Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Superv: Initializing worksiteServer isor::cr: WorkSite::WorkSite -- Adding attributes eat: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/workSite.cfg eTask() - vehicleConfigurationServer Supervi: Using default vehicle config file "/home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/vehicle.cfg" sor::createTask() - externalCommsServer Supervis: WorkSite::WorkSite -- Finished loading parameters or:: WorkSite::WorkSite -- Starting Depth is 0.000000 meters :cre: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 ateT: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 ask(): 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 navig: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 ation: WorkSite server: 0x230e0 Server Super: New Navigation component constructor vi: Navigation - Using only the Dvl to compute altitude. sor::createTask() - layeredControlServer Superv: layeredControlServer - creatinging Dyno isor::createTask() - dynamicControlSer: DynoLayeredControlServer ctor ver : DynoLayeredControlServer spawnAuxTasks : layeredControl - instantiating DynoLayeredControl Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Su: SerialDevice: done... p: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ervi: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts sor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ::cr: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts eate: SerialDevice: done... Task(: SerialDevice: done... ) - gpsServer Supervisor::createTask() - parosciServ: SerialDevice: done... er Supervisor::createTask() - : Gps: initializing sea: SerialDevice: done... b: SerialDevice: done... irdSe: SerialDevice: done... rver: Preparing to fork Su: I'm the child...forking pervisor::createTask() - seabi: seabirdDriver RUNNING... rdServer Sup: SerialDevice: done... : ahrs if is Ahrs ervisor::createTask() - isusS: seabirdDriver RUNNING... erver Supervisor::createT: SerialDevice: done... ask() - blue: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver.cfg finBattDriver Superv: BluefinBatt driver - running with 3 batteries isor::c: SerialDevice: done... reate: 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 Task() - hydr: SerialDevice: done... oscatS: Crossbow.cc: In getSerialNumber() er: BluefinBatt.cc - Looking for Parosci server ver S: SerialDevice: done... upe: SerialDevice: done... r: BluefinBatt::init() - querying for batt ids visor::crea: BluefinBatt::init() - battery echo is !? teTask() - li: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() s: DynoLayeredControl ctor : IsusLog.cc -- beginning constructor... st : DynoLayeredControl initialize Su: CTD/ctdDriver -- Calibration constants: T_a = 3.681214e-003 T_b = 6.001608e-004 T_c = 1.544639e-005 T_d = 2.758945e-006 T_f0 = 6277.843000 C_a = 1.683381e-006 C_b = 4.426414e-001 C_c = -4.155499 C_d = -7.998920e-005 C_m = 4.900 EPS = -9.570000e-008 SOc = 4.510000e-001 BOc = 0.000000e+000 Voff = -5.550000e-001 TCor = 7.000000e-004 PCor = 1.350000e-004 pe: isusLog.cc -- constructor succeeded rvisor::cr: Seabird/ctdDriver::Seabird() - create interface to depth sensor... eateTas: SerialDeviceDriver::initialize() k(): Seabird/ctdDriver -- constructing Log... - b: Isus:initializing Isus with lamp on... iolumeDriver : CTD/ctdDriver2 -- Calibration constants: T_a = 3.681215e-003 T_b = 6.039948e-004 T_c = 1.632164e-005 T_d = 2.115908e-006 T_f0 = 3164.039000 C_a = 3.611249e-005 C_b = 4.197434e-001 C_c = -3.913827 C_d = -7.754965e-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 S: Seabird/ctdDriver2::Seabird() - create interface to depth sensor... up: CTDLog.cc -- beginning constructor... erv: Seabird/ctdDriver2 -- constructing Log... isor: CTDLog.cc -- constructor succeeded ::creat: Seabird/ctdDriver -- constructor succeeded eTask: seabirdDriver -- constructor succeeded () : Seabird/ctdDriver:initializing Seabird... -: CTDLog.cc -- beginning constructor... dvlServ: CTDLog.cc -- constructor succeeded er : Seabird/ctdDriver2 -- constructor succeeded S: seabirdDriver -- constructor succeeded uper: Seabird/ctdDriver2:initializing Seabird... visor::crea: SerialDeviceDriver::initialize() teTask() - fanServer: **** EventTriggers::add() - attaching proxy Su: SerialDevice: done... pervisor::createTask() - dropWeightSe: SerialDeviceDriver::initialize() rver Supervisor::createTask() - gulperSer: SerialDevice: done... ver Supervisor::createTask() - : DropWeight::initialize - Resetting counters. clu: **** EventTriggers::add() - attaching proxy sterS: Crossbow.cc: device->read succeeded erv: m3dmgx1: Serial Number is 3343 e: SerialDevice: done... r : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 Supervisor: SerialDeviceDriver::initialize() ::: Starting DVL Initialization. creat: SerialDevice: done... eT: gulperLog:: Before navigation IF. ask() : gulperLog:: Constructor completed. - statePublisher : PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : 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" : SerialDevice: done... : Cluster: classifier plume registered for logging. : cluster - starting the task. : PeriodicTask::run() (cluster) - sampleInterval=500, maxInterval=500 : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : SerialDevice: done... : 3 Modules found : CR1 [Parameters set to FACTORY defaults] > : PD0 > : BK1 > : TP00:00.33 > : TE00:00:0.00 > : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04500 > : WP0001 > : WN50 > : Dvl::initialize - The number of cells is 50. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : PD0Header = 7F7FCF04 : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - N,12152.38061,W,1,11,0.7,-2.35,M,-32.59,M,,*72 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,151244.00,3648.93458,N,12152.38025,W,1,11,0.7,-1.99,M,-32.59,M,,*71 : Hydroscat:non-fatal response to OPEN, continuing... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2::initialize() - confirm() timed out; sleep a bit : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit : AshtechGps::processRecord() - $GPGGA,151245.00,3648.93462,N,12152.37996,W,1,11,0.7,-2.15,M,-32.59,M,,*70 : 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... : Lisst::flushReadRecord() - record so far:  : Isus:time set with val 1214493163 -> Thu Jun 26 15:12:45 2008 : Isus:comms initialized, warmup countdown begun... : Isus:starting Isus... : Isus:started : AshtechGps::processRecord() - $GPGGA,151246.00,3648.93471,N,12152.37999,W,1,11,0.7,-2.85,M,-32.59,M,,*77 : BluefinBatt::init() - battery ids are aa c0 c1 : BluefinBatt::init() - found battery aa : BluefinBatt::init() - found battery c0 : BluefinBatt::init() - found battery c1 : BluefinBatt::init() - battery echo is #aawf : Lisst:starting Lisst... : 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 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,151247.00,3648.93477,N,12152.38010,W,1,11,0.7,-3.00,M,-32.59,M,,*7B : Lisst::flushReadRecord() - record so far: : Lisst:started : AshtechGps::processRecord() - $GPGGA,151248.00,3648.93480,N,12152.38020,W,1,11,0.7,-2.81,M,-32.59,M,,*77 : **** EventTriggers::add() - attaching proxy : Lisst processRecord(): record too short(242) : **** EventTriggers::add() - attaching proxy : Parosci.cc -- Initial pressure = 1.068688 : Parosci.cc -- Parosci initial pressure period = 30.068030 : AshtechGps::processRecord() - $GPGGA,151249.00,3648.93487,N,12152.38036,W,1,11,0.7,-2.73,M,-32.59,M,,*7B : Parosci.cc -- Parosci initial temp period = 5.796980 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,151250.00,3648.93497,N,12152.38041,W,1,11,0.7,-2.67,M,-32.59,M,,*77 : Seabird/ctdDriver: sending configure commands...(9326) : Seabird/ctdDriver2: sending configure commands...(9340) : AshtechGps::processRecord() - $GPGGA,151251.00,3648.93505,N,12152.38028,W,1,11,0.7,-2.42,M,-32.59,M,,*74 : BluefinBatt::init() - battery watchdog state is $aawf 1 : BluefinBatt::init() - battery echo is #c0wf : Seabird/ctdDriver: setting scans... : Seabird/ctdDriver2: setting scans... : StatePublisher: Unable to initialize battery interface : AshtechGps::processRecord() - $GPGGA,151252.00,3648.93504,N,12152.38031,W,1,11,0.7,-2.56,M,-32.59,M,,*7B : AshtechGps::processRecord() - $GPGGA,151253.00,3648.93507,N,12152.38018,W,1,12,0.7,-2.26,M,-32.59,M,,*76 : AshtechGps::processRecord() - $GPGGA,151254.00,3648.93504,N,12152.37982,W,1,12,0.7,-2.13,M,-32.59,M,,*71 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,151255.00,3648.93518,N,12152.37977,W,1,12,0.7,-2.79,M,-32.59,M,,*7B : SerialDevice::confirm() - Timed Out : SerialDevice::confirm() - Timed Out : AshtechGps::processRecord() - $GPGGA,151256.00,3648.93524,N,12152.38011,W,1,12,0.7,-3.44,M,-32.59,M,,*7E : BluefinBatt::init() - battery watchdog state is $c0wf 1 : BluefinBatt::init() - battery echo is #c1wf : AshtechGps::processRecord() - $GPGGA,151257.00,3648.93546,N,12152.38032,W,1,12,0.7,-3.01,M,-32.59,M,,*7B : AshtechGps::processRecord() - $GPGGA,151258.00,3648.93546,N,12152.38015,W,1,12,0.7,-2.56,M,-32.59,M,,*72 : AshtechGps::processRecord() - $GPGGA,151259.00,3648.93557,N,12152.38010,W,1,12,0.7,-2.95,M,-32.59,M,,*79 : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver: setting pump freq... : SerialDevice::confirm() - Timed Out : Seabird/ctdDriver2: setting pump freq... : Seabird/ctdDriver: setting upcast... : Seabird/ctdDriver2: setting upcast... : AshtechGps::processRecord() - $GPGGA,151300.00,3648.93563,N,12152.38021,W,1,12,0.7,-2.89,M,-32.59,M,,*7C : Seabird/ctdDriver: setting battery type... : Seabird/ctdDriver2: setting battery type... : Seabird/ctdDriver: setting external voltages to 6...(9326) : Seabird/ctdDriver2: setting external voltages to 6...(9340) : AshtechGps::processRecord() - $GPGGA,151301.00,3648.93564,N,12152.38021,W,1,12,0.7,-2.80,M,-32.59,M,,*73 : Seabird/ctdDriver::initialize() - confirming voltage... : Seabird/ctdDriver2::initialize() - confirming voltage... : BluefinBatt::init() - battery watchdog state is $c1wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : 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... : Seabird/ctdDriver2::initialize() - confirming voltage... : AshtechGps::processRecord() - $GPGGA,151302.00,3648.93579,N,12152.38023,W,1,12,0.7,-2.54,M,-32.59,M,,*77 : Seabird/ctdDriver::initialize() - confirming voltage... : 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,151303.00,3648.93564,N,12152.37996,W,1,12,0.7,-2.15,M,-32.59,M,,*77 : 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,151304.00,3648.93582,N,12152.37974,W,1,12,0.7,-2.65,M,-32.59,M,,*73 : Seabird/ctdDriver::initialize() - disabling switch... : Seabird/ctdDriver2::initialize() - disabling switch... : Seabird/ctdDriver: sending DS command... : Seabird/ctdDriver2: sending DS command... : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151305.00,3648.93573,N,12152.37977,W,1,12,0.7,-3.19,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151306.00,3648.93585,N,12152.37995,W,1,12,0.7,-3.50,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151307.00,3648.93588,N,12152.38027,W,1,12,0.7,-3.71,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151308.00,3648.93609,N,12152.38047,W,1,12,0.7,-3.21,M,-32.59,M,,*78 : Seabird/ctdDriver2::initialize() - starting logging... : Seabird/ctdDriver::initialize() - starting logging... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151309.00,3648.93618,N,12152.38045,W,1,12,0.7,-2.87,M,-32.59,M,,*76 : Ctd/ctdDriver2:initialize() - Logging Started... : Ctd/ctdDriver2:initialize() - ready! : **** EventTriggers::add() - attaching proxy : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Ctd/ctdDriver:initialize() - Logging Started... : Ctd/ctdDriver:initialize() - ready! : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,151310.00,3648.93623,N,12152.38033,W,1,12,0.7,-2.50,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151311.00,3648.93614,N,12152.38012,W,1,12,0.7,-2.29,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151312.00,3648.93615,N,12152.37986,W,1,12,0.7,-2.32,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 32.44 0.62 16.69 4.05 4.07 0 28718.13 01:41:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151313.00,3648.93623,N,12152.37959,W,1,12,0.7,-2.73,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151314.00,3648.93633,N,12152.37962,W,1,12,0.7,-3.33,M,-32.59,M,,*7E : 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 : BluefinBatt Reply: $c0q0 d- 32.60 0.85 17.18 4.05 4.07 0 20298.64 01:41:45 m : **** EventTriggers::add() - attaching proxy : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : 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 = 0.010000) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,151315.00,3648.93648,N,12152.37999,W,1,12,0.7,-3.88,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151316.00,3648.93663,N,12152.38041,W,1,12,0.7,-3.93,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 32.47 1.13 18.55 4.06 4.07 0 4211.93 01:41:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151317.00,3648.93668,N,12152.38060,W,1,12,0.7,-3.35,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.050000, mean min cell voltage 4.053333 : AshtechGps::processRecord() - $GPGGA,151318.00,3648.93666,N,12152.38047,W,1,12,0.7,-2.68,M,-32.59,M,,*7C : 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 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,151319.00,3648.93662,N,12152.38023,W,1,12,0.7,-2.41,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151320.00,3648.93662,N,12152.37998,W,1,12,0.7,-2.55,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 : Isus:20 seconds of warmup remaining... : AshtechGps::processRecord() - $GPGGA,151321.00,3648.93667,N,12152.37978,W,1,12,0.7,-2.86,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 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,151322.00,3648.93673,N,12152.37988,W,1,12,0.7,-3.33,M,-32.59,M,,*7B : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 4 behaviors : LayeredControl::execute() -- (t = 7.359496) Behavior setpoint:5173 has changed to state Active : LayeredControl - setpoint BehaviorStarted:5173 msg to VcsServer : BluefinBatt Reply: $aaq0 d- 32.44 0.62 16.69 4.05 4.07 0 28718.04 01:41:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151323.00,3648.93681,N,12152.38012,W,1,12,0.7,-3.67,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 5 behaviors : AshtechGps::processRecord() - $GPGGA,151324.00,3648.93694,N,12152.38034,W,1,12,0.7,-3.52,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.60 0.89 17.18 4.05 4.07 0 20298.58 01:41:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151325.00,3648.93702,N,12152.38053,W,1,12,0.7,-3.27,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151326.00,3648.93716,N,12152.38057,W,1,12,0.7,-2.98,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.43 2.67 18.45 4.06 4.07 0 4211.81 01:41:57 m : AshtechGps::processRecord() - $GPGGA,151327.00,3648.93717,N,12152.38060,W,1,12,0.7,-2.96,M,-32.59,M,,*73 : LayeredControl::execute() -- (t = 12.399151) Behavior setpoint:5173 has changed to state Finished : LayeredControl - sending BehaviorFinished:5173 msg to VcsServer : LayeredControl::execute() -- (t = 12.399151) Behavior descend:5129 has changed to state Active : LayeredControl - descend BehaviorStarted:5129 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.050000, mean min cell voltage 4.053333 : AshtechGps::processRecord() - $GPGGA,151328.00,3648.93724,N,12152.38053,W,1,12,0.7,-2.66,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151329.00,3648.93726,N,12152.38072,W,1,12,0.7,-3.01,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151330.00,3648.93736,N,12152.38107,W,1,12,0.7,-3.09,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151331.00,3648.93744,N,12152.38133,W,1,12,0.7,-3.02,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151332.00,3648.93762,N,12152.38163,W,1,12,0.7,-2.86,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 32.32 2.92 16.69 4.05 4.06 0 28717.92 01:42:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151333.00,3648.93788,N,12152.38202,W,1,12,0.7,-3.06,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151334.00,3648.93796,N,12152.38248,W,1,12,0.7,-3.27,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.56 2.37 17.18 4.04 4.06 0 20298.30 01:42:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151335.00,3648.93807,N,12152.38292,W,1,12,0.7,-3.09,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151336.00,3648.93795,N,12152.38348,W,1,12,0.7,-3.32,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.36 3.50 18.55 4.05 4.06 0 4211.55 01:42:07 m : AshtechGps::processRecord() - $GPGGA,151337.00,3648.93801,N,12152.38413,W,1,12,0.7,-3.22,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.040000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,151338.00,3648.93791,N,12152.38462,W,1,12,0.7,-3.20,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151339.00,3648.93792,N,12152.38517,W,1,12,0.7,-2.88,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151340.00,3648.93765,N,12152.38558,W,1,12,0.7,-2.88,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151341.00,3648.93755,N,12152.38624,W,1,12,0.7,-3.17,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151342.00,3648.93731,N,12152.38674,W,1,12,0.7,-2.92,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 32.36 2.55 16.79 4.05 4.06 0 28717.51 01:42:13 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : **** EventTriggers::add() - attaching proxy : Isus::Buffer full! : AshtechGps::processRecord() - $GPGGA,151343.00,3648.93701,N,12152.38708,W,1,12,0.7,-2.52,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151344.00,3648.93669,N,12152.38748,W,1,12,0.7,-2.45,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : Isus::select() timeout : **** EventTriggers::add() - attaching proxy : BluefinBatt Reply: $c0q0 d- 32.53 2.80 17.08 4.04 4.06 0 20298.07 01:42:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151345.00,3648.93625,N,12152.38772,W,1,12,0.7,-2.41,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151346.00,3648.93590,N,12152.38821,W,1,12,0.7,-2.86,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.40 3.09 18.55 4.05 4.06 0 4211.17 01:42:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151347.00,3648.93540,N,12152.38869,W,1,12,0.7,-2.81,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.040000, mean min cell voltage 4.046667 : AshtechGps::processRecord() - $GPGGA,151348.00,3648.93502,N,12152.38925,W,1,12,0.7,-2.71,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151349.00,3648.93454,N,12152.38953,W,1,12,0.7,-2.63,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151350.00,3648.93402,N,12152.38982,W,1,12,0.7,-2.38,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151351.00,3648.93346,N,12152.38990,W,1,12,0.7,-2.07,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151352.00,3648.93285,N,12152.38975,W,1,12,0.7,-1.93,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 32.32 3.15 16.79 4.04 4.05 0 28717.29 01:42:23 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151353.00,3648.93230,N,12152.38959,W,1,12,0.7,-2.22,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151354.00,3648.93178,N,12152.38959,W,1,12,0.7,-2.59,M,-32.59,M,,*78 : BluefinBatt Reply: $c0q0 d- 32.53 2.66 17.08 4.03 4.05 0 20297.73 01:42:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151355.00,3648.93132,N,12152.38972,W,1,12,0.7,-2.96,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151356.00,3648.93079,N,12152.38983,W,1,12,0.7,-2.81,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.40 2.75 18.45 4.05 4.05 0 4210.92 01:42:27 m : AshtechGps::processRecord() - $GPGGA,151357.00,3648.93024,N,12152.38969,W,1,12,0.7,-2.53,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,151358.00,3648.92974,N,12152.38959,W,1,12,0.7,-2.55,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : Isus: processRecord() - bad nitrate data: +1 +0 Entering Scan Loop, press S to break. : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151359.00,3648.92928,N,12152.38940,W,1,12,0.7,-2.42,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151400.00,3648.92875,N,12152.38931,W,1,12,0.7,-2.46,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151401.00,3648.92822,N,12152.38909,W,1,12,0.7,-2.51,M,-32.59,M,,*75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151402.00,3648.92775,N,12152.38883,W,1,12,0.7,-2.66,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.40 1.85 16.69 4.04 4.05 0 28717.02 01:42:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151403.00,,,,,0,04,7.6,,M,,M,,*61 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver2: error reading voltages : **** EventTriggers::add() - attaching proxy : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151404.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.53 2.80 17.08 4.03 4.05 0 20297.57 01:42:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151405.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151406.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 32.36 3.74 18.45 4.05 4.05 0 4210.61 01:42:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151407.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151408.00,,,,,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,151409.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151410.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151411.00,,,,,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,151412.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.29 3.22 16.79 4.04 4.05 0 28716.80 01:42:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151413.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151414.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.49 3.23 17.08 4.03 4.05 0 20297.22 01:42:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151415.00,,,,,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,151416.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.36 3.67 18.45 4.04 4.05 0 4210.34 01:42:47 m : AshtechGps::processRecord() - $GPGGA,151417.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : AshtechGps::processRecord() - $GPGGA,151418.00,,,,,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,151419.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151420.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151421.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151422.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.26 16.79 4.04 4.05 0 28716.44 01:42:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151423.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151424.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.45 3.37 17.18 4.03 4.05 0 20296.98 01:42:55 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151425.00,,,,,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,151426.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.22 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on depth 10.134473 > 10.000000 at time 71.395109 : LayeredControl::execute() -- (t = 71.395109) Behavior descend:5129 has changed to state Finished : LayeredControl - sending BehaviorFinished:5129 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : BluefinBatt Reply: $c1q0 d- 32.36 3.57 18.55 4.04 4.05 0 4209.94 01:42:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151427.00,,,,,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 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,151428.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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= 73.35 (wplog) The current location (N,E) = 4075051.7 , 600518.3 (wplog) The next waypoint = 4074920.0 , 600512.0 (wplog) The bearing to the next w.p. is 182.7 Degrees. : LayeredControl::execute() -- (t = 73.354975) Behavior waypoint_yoyo:7841 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:7841 msg to VcsServer : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151429.00,,,,,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,151430.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151431.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151432.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.26 16.79 4.04 4.05 0 28716.22 01:43:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151433.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,151434.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 3.23 17.28 4.03 4.05 0 20296.63 01:43:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151435.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151436.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.36 3.50 18.55 4.05 4.05 0 4209.68 01:43:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151437.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151438.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151439.00,,,,,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,151440.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151441.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151442.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 3.00 16.79 4.04 4.05 0 28715.88 01:43:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151443.00,,,,,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,151444.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 3.05 17.28 4.03 4.05 0 20296.40 01:43:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151445.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151446.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.36 3.23 18.55 4.05 4.05 0 4209.32 01:43:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151447.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151448.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151449.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151450.00,,,,,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,151451.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151452.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.11 16.79 4.04 4.05 0 28715.68 01:43:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151453.00,,,,,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,151454.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 3.08 17.18 4.03 4.05 0 20296.05 01:43:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151455.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151456.00,,,,,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: $c1q0 d- 32.36 4.46 18.55 4.05 4.05 0 4209.07 01:43:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151457.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,151458.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151459.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151500.00,,,,,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,151501.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151502.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.15 16.69 4.04 4.05 0 28715.36 01:43:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151503.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151504.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.49 2.98 17.18 4.03 4.05 0 20295.82 01:43:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151505.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151506.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 32.32 4.43 18.65 4.05 4.05 0 4208.67 01:43:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151507.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151508.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151509.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151510.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151511.00,,,,,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,151512.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.32 3.00 16.79 4.04 4.05 0 28715.15 01:43:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151513.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151514.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.45 3.12 17.18 4.03 4.05 0 20295.49 01:43:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151515.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151516.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.36 3.46 18.55 4.05 4.05 0 4208.41 01:43:47 m : AshtechGps::processRecord() - $GPGGA,151517.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151518.00,,,,,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,151519.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151520.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151521.00,,,,,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,151522.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.32 2.82 16.69 4.04 4.05 0 28714.77 01:43:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151523.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151524.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.45 2.94 17.18 4.03 4.05 0 20295.27 01:43:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151525.00,,,,,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,151526.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.36 3.33 18.55 4.05 4.05 0 4208.04 01:43:57 m : AshtechGps::processRecord() - $GPGGA,151527.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.040000 : AshtechGps::processRecord() - $GPGGA,151528.00,,,,,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,151529.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151530.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151531.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151532.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 3.07 16.69 4.04 4.05 0 28714.56 01:44:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151533.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151534.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.45 3.01 17.08 4.03 4.05 0 20294.95 01:44:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151535.00,,,,,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,151536.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 32.36 3.29 18.45 4.04 4.05 0 4207.80 01:44:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151537.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : AshtechGps::processRecord() - $GPGGA,151538.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,151539.00,,,,,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,151540.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151541.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151542.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.89 16.60 4.04 4.05 0 28714.24 01:44:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151543.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151544.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 2.91 17.08 4.03 4.05 0 20294.74 01:44:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151545.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151546.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.36 3.02 18.45 4.04 4.05 0 4207.44 01:44:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151547.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151548.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151549.00,,,,,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,151550.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151551.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151552.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.78 16.60 4.04 4.05 0 28714.01 01:44:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151553.00,,,,,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,151554.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 2.98 17.08 4.03 4.05 0 20294.43 01:44:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151555.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151556.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.36 3.36 18.45 4.04 4.05 0 4207.20 01:44:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151557.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151558.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151559.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151600.00,,,,,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,151601.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151602.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.85 16.60 4.04 4.05 0 28713.70 01:44:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151603.00,,,,,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,151604.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.45 2.98 17.08 4.03 4.05 0 20294.22 01:44:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151605.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151606.00,,,,,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: $c1q0 d- 32.36 3.23 18.45 4.04 4.05 0 4206.84 01:44:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,151607.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : AshtechGps::processRecord() - $GPGGA,151608.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151609.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=10.00 horzlMode=3 horz=3.19 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Waypoint has set the state to finished. : Waypoint (4074920.0, 600512.0), reached at t = 175.00 (wplog) : Vehicle Position is error is (0.2, 1.0) : LayeredControl::execute() -- (t = 174.998012) Behavior waypoint_yoyo:7841 has changed to state Finished : LayeredControl - sending BehaviorFinished:7841 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,151610.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151611.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151612.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.44 16.60 4.04 4.05 0 28713.50 01:44:43 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,151613.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,151614.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.49 2.87 17.08 4.03 4.05 0 20293.91 01:44:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151615.00,,,,,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 : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - stack now contains 7 behaviors : Waypoint Initialization: Begin waypoint control at t= 180.99 (wplog) The current location (N,E) = 4074911.0 , 600510.6 (wplog) The next waypoint = 4078803.0 , 600466.0 (wplog) The bearing to the next w.p. is 359.3 Degrees. : LayeredControl::execute() -- (t = 180.997601) Behavior waypoint_yoyo:12389 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:12389 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,151616.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.32 3.74 18.45 4.04 4.05 0 4206.61 01:44:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151617.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : AshtechGps::processRecord() - $GPGGA,151618.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151619.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151620.00,,,,,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,151621.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151622.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 4.12 16.60 4.04 4.05 0 28713.16 01:44:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151623.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151624.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 4.16 17.08 4.03 4.05 0 20293.63 01:44:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151625.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151626.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.28 4.57 18.45 4.04 4.05 0 4206.18 01:44:57 m : AshtechGps::processRecord() - $GPGGA,151627.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : AshtechGps::processRecord() - $GPGGA,151628.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151629.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151630.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151631.00,,,,,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,151632.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.25 3.93 16.60 4.03 4.05 0 28712.87 01:45:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151633.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151634.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.45 3.98 17.08 4.03 4.05 0 20293.18 01:45:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151635.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151636.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.32 4.43 18.45 4.03 4.05 0 4205.87 01:45:07 m : AshtechGps::processRecord() - $GPGGA,151637.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151638.00,,,,,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,151639.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151640.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151641.00,,,,,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,151642.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.25 3.93 16.60 4.03 4.05 0 28712.46 01:45:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151643.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151644.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 32.53 1.61 17.08 4.03 4.05 0 20292.91 01:45:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151645.00,,,,,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,151646.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.32 3.53 18.45 4.03 4.05 0 4205.46 01:45:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151647.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.030000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151648.00,,,,,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,151649.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151650.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151651.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151652.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.97 16.60 4.03 4.05 0 28712.22 01:45:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151653.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151654.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 4.06 17.08 4.02 4.04 0 20292.53 01:45:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151655.00,,,,,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,151656.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.28 4.53 18.45 4.03 4.05 0 4205.11 01:45:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151657.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151658.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151659.00,,,,,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,151700.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151701.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151702.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.93 16.60 4.03 4.05 0 28711.78 01:45:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151703.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151704.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.41 4.16 17.08 4.02 4.04 0 20292.23 01:45:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151705.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151706.00,,,,,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: $c1q0 d- 32.40 1.20 18.45 4.03 4.05 0 4204.62 01:45:37 m : AshtechGps::processRecord() - $GPGGA,151707.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151708.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151709.00,,,,,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,151710.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151711.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151712.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 3.82 16.60 4.04 4.05 0 28711.55 01:45:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151713.00,,,,,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,151714.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.41 4.13 17.08 4.03 4.05 0 20291.84 01:45:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151715.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151716.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.28 4.53 18.45 4.04 4.05 0 4204.37 01:45:47 m : AshtechGps::processRecord() - $GPGGA,151717.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : AshtechGps::processRecord() - $GPGGA,151718.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151719.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151720.00,,,,,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,151721.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151722.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.45 16.60 4.04 4.05 0 28711.12 01:45:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151723.00,,,,,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,151724.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.41 4.20 17.18 4.03 4.05 0 20291.55 01:45:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151725.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151726.00,,,,,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: $c1q0 d- 32.28 4.46 18.45 4.04 4.05 0 4203.87 01:45:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151727.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.036666 : AshtechGps::processRecord() - $GPGGA,151728.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151729.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151730.00,,,,,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,151731.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151732.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.26 16.60 4.03 4.04 0 28710.82 01:46:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151733.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151734.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 4.13 17.08 4.02 4.04 0 20291.09 01:46:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151735.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151736.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.28 4.50 18.45 4.03 4.04 0 4203.54 01:46:07 m : AshtechGps::processRecord() - $GPGGA,151737.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151738.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151739.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151740.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151741.00,,,,,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,151742.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 4.19 16.60 4.03 4.04 0 28710.37 01:46:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151743.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151744.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 4.42 17.08 4.02 4.04 0 20290.79 01:46:15 m : DepthEnvelope -- Measured altitude 14.810100 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : DepthEnvelope -- Measured altitude 14.810100 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,151745.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.810100 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.810100 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.810100 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.810100 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.810100 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,151746.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 20.959060 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.28 4.50 18.45 4.03 4.04 0 4203.05 01:46:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151747.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151748.00,,,,,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,151749.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151750.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151751.00,,,,,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,151752.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 3.89 16.60 4.03 4.05 0 28710.09 01:46:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151753.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.434032 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.434032 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.434032 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,151754.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.434032 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.434032 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.434032 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.41 4.16 17.08 4.02 4.04 0 20290.35 01:46:25 m : DepthEnvelope -- Measured altitude 14.434032 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.659325 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,151755.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.659325 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.659325 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.659325 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.659325 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.659325 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,151756.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.659325 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.395329 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.36 2.40 18.55 4.03 4.05 0 4202.73 01:46:27 m : AshtechGps::processRecord() - $GPGGA,151757.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151758.00,,,,,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,151759.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151800.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151801.00,,,,,0,00,,,M,,M,,*44 : 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 8 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 286.370382) Behavior FireTheGulperAMC:42914 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:42914 msg to VcsServer : Gulper::fireGulper - cmd is $001Fff : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151802.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 2.82 16.60 4.03 4.05 0 28709.80 01:46:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 288.000271) Behavior FireTheGulperAMC:42914 has changed to state Finished : LayeredControl - sending BehaviorFinished:42914 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,151803.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151804.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 3.77 17.08 4.02 4.04 0 20290.22 01:46:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,151805.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 9 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 290.360109) Behavior FireTheGulperAMC:42883 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:42883 msg to VcsServer : Gulper::fireGulper - cmd is $011Fff : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151806.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.28 4.50 18.55 4.03 4.05 0 4202.42 01:46:37 m : LayeredControl::execute() -- (t = 291.999997) Behavior FireTheGulperAMC:42883 has changed to state Finished : LayeredControl - sending BehaviorFinished:42883 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,151807.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151808.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151809.00,,,,,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,151810.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151811.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151812.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.26 16.60 4.03 4.04 0 28709.52 01:46:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151813.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151814.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.41 4.27 17.08 4.02 4.04 0 20289.77 01:46:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151815.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151816.00,,,,,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: $c1q0 d- 32.25 4.87 18.55 4.03 4.04 0 4202.09 01:46:47 m : AshtechGps::processRecord() - $GPGGA,151817.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151818.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151819.00,,,,,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,151820.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151821.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151822.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 32.21 3.89 16.50 4.03 4.04 0 28709.09 01:46:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151823.00,,,,,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,151824.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.41 4.02 17.08 4.02 4.04 0 20289.49 01:46:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151825.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151826.00,,,,,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: $c1q0 d- 32.25 4.43 18.45 4.03 4.04 0 4201.63 01:46:57 m : AshtechGps::processRecord() - $GPGGA,151827.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151828.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151829.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151830.00,,,,,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,151831.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151832.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.89 16.50 4.03 4.04 0 28708.81 01:47:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151833.00,,,,,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,151834.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.02 16.99 4.02 4.04 0 20289.04 01:47:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151835.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151836.00,,,,,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: $c1q0 d- 32.28 4.53 18.45 4.03 4.04 0 4201.28 01:47:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151837.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151838.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151839.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151840.00,,,,,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,151841.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151842.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.82 16.40 4.03 4.04 0 28708.40 01:47:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151843.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151844.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 3.88 16.89 4.02 4.04 0 20288.76 01:47:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151845.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151846.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.28 4.22 18.45 4.03 4.04 0 4200.82 01:47:17 m : AshtechGps::processRecord() - $GPGGA,151847.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151848.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151849.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151850.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151851.00,,,,,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,151852.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 3.93 16.40 4.03 4.04 0 28708.14 01:47:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151853.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151854.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 3.95 16.89 4.02 4.04 0 20288.35 01:47:25 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151855.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151856.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.28 4.15 18.35 4.03 4.04 0 4200.53 01:47:27 m : AshtechGps::processRecord() - $GPGGA,151857.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151858.00,,,,,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,151859.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151900.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151901.00,,,,,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,151902.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 4.00 16.30 4.03 4.04 0 28707.73 01:47:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151903.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151904.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 3.95 16.89 4.02 4.04 0 20288.07 01:47:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151905.00,,,,,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,151906.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.28 4.29 18.35 4.03 4.04 0 4200.01 01:47:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151907.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151908.00,,,,,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,151909.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151910.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151911.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151912.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.04 16.30 4.03 4.04 0 28707.46 01:47:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151913.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151914.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 4.20 16.79 4.02 4.04 0 20287.60 01:47:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151915.00,,,,,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,151916.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 4.74 18.26 4.03 4.04 0 4199.69 01:47:47 m : AshtechGps::processRecord() - $GPGGA,151917.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151918.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151919.00,,,,,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,151920.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151921.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151922.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.19 16.30 4.03 4.04 0 28707.02 01:47:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151923.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151924.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.20 16.89 4.02 4.04 0 20287.30 01:47:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151925.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151926.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.25 4.70 18.26 4.03 4.04 0 4199.20 01:47:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151927.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151928.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151929.00,,,,,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,151930.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151931.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151932.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.15 16.30 4.03 4.04 0 28706.73 01:48:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151933.00,,,,,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,151934.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.27 16.89 4.02 4.04 0 20286.85 01:48:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151935.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151936.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.25 4.64 18.26 4.03 4.04 0 4198.87 01:48:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151937.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151938.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151939.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151940.00,,,,,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,151941.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151942.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.23 16.30 4.03 4.04 0 28706.25 01:48:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151943.00,,,,,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,151944.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.20 16.89 4.02 4.04 0 20286.55 01:48:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151945.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151946.00,,,,,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: $c1q0 d- 32.25 4.94 18.26 4.03 4.04 0 4198.38 01:48:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151947.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,151948.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151949.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151950.00,,,,,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,151951.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151952.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.04 16.21 4.02 4.04 0 28705.96 01:48:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151953.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,151954.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 4.27 16.89 4.02 4.04 0 20286.10 01:48:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151955.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151956.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 4.98 18.26 4.03 4.04 0 4198.05 01:48:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151957.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151958.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,151959.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,152000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152001.00,,,,,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,152002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 4.23 16.30 4.02 4.04 0 28705.52 01:48:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 4.27 16.89 4.02 4.04 0 20285.79 01:48:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.25 4.81 18.26 4.03 4.04 0 4197.55 01:48:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152008.00,,,,,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,152009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152011.00,,,,,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,152012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.17 4.12 16.30 4.02 4.04 0 28705.22 01:48:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 4.20 16.89 4.02 4.04 0 20285.30 01:48:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152015.00,,,,,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,152016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 4.81 18.35 4.03 4.04 0 4197.23 01:48:47 m : AshtechGps::processRecord() - $GPGGA,152017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : DepthEnvelope -- Measured altitude 14.647989 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : DepthEnvelope -- Measured altitude 14.647989 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.647989 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.647989 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.647989 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.647989 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.647989 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 21.035757 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152020.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.32 1.11 16.21 4.02 4.04 0 28704.86 01:48:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152023.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 2.73 16.89 4.02 4.04 0 20285.06 01:48:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152025.00,,,,,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,152026.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.28 3.81 18.26 4.03 4.04 0 4196.85 01:48:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152027.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : AshtechGps::processRecord() - $GPGGA,152028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152029.00,,,,,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,152030.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152031.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 4.08 16.21 4.03 4.04 0 28704.63 01:49:03 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152033.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152034.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.34 16.89 4.02 4.04 0 20284.66 01:49:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152036.00,,,,,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: $c1q0 d- 32.25 5.60 18.26 4.03 4.04 0 4196.52 01:49:07 m : AshtechGps::processRecord() - $GPGGA,152037.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,152038.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152039.00,,,,,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,152040.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152041.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.85 16.21 4.03 4.04 0 28704.18 01:49:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152043.00,,,,,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,152044.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 3.95 16.89 4.02 4.04 0 20284.35 01:49:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152045.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152046.00,,,,,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: $c1q0 d- 32.25 4.39 18.26 4.03 4.04 0 4195.99 01:49:17 m : AshtechGps::processRecord() - $GPGGA,152047.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,152048.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152050.00,,,,,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,152051.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.85 16.21 4.03 4.04 0 28703.91 01:49:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152053.00,,,,,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,152054.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 3.91 16.89 4.02 4.04 0 20283.92 01:49:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152055.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152056.00,,,,,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: $c1q0 d- 32.25 4.70 18.26 4.03 4.04 0 4195.68 01:49:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,152058.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152059.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152100.00,,,,,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,152101.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.63 16.21 4.03 4.04 0 28703.51 01:49:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 3.73 16.79 4.02 4.04 0 20283.65 01:49:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152105.00,,,,,0,00,,,M,,M,,*4A : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152106.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 4.15 18.26 4.03 4.04 0 4195.23 01:49:37 m : AshtechGps::processRecord() - $GPGGA,152107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,152108.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152109.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152111.00,,,,,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,152112.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 3.59 16.11 4.03 4.04 0 28703.25 01:49:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152113.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 4.02 16.69 4.02 4.04 0 20283.19 01:49:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152115.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152116.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.25 4.12 18.16 4.03 4.04 0 4194.92 01:49:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152118.00,,,,,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,152119.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152120.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152121.00,,,,,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,152122.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 3.63 16.11 4.03 4.04 0 28702.81 01:49:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152123.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 3.88 16.69 4.02 4.04 0 20282.91 01:49:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152125.00,,,,,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,152126.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 4.29 18.16 4.03 4.04 0 4194.47 01:49:57 m : AshtechGps::processRecord() - $GPGGA,152127.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,152128.00,,,,,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,152129.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152130.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.75 16.11 4.02 4.04 0 28702.52 01:50:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.41 3.80 16.69 4.02 4.04 0 20282.48 01:50:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152135.00,,,,,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,152136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.25 4.29 18.06 4.03 4.04 0 4194.16 01:50:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,152138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152139.00,,,,,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,152140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 5.64 16.11 4.02 4.04 0 28702.10 01:50:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.34 16.69 4.02 4.04 0 20282.18 01:50:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152146.00,,,,,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: $c1q0 d- 32.21 4.64 18.06 4.03 4.04 0 4193.66 01:50:17 m : AshtechGps::processRecord() - $GPGGA,152147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : AshtechGps::processRecord() - $GPGGA,152148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152149.00,,,,,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,152150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.04 16.01 4.02 4.04 0 28701.80 01:50:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152153.00,,,,,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,152154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.31 16.69 4.01 4.04 0 20281.70 01:50:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152156.00,,,,,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: $c1q0 d- 32.21 4.77 18.06 4.03 4.04 0 4193.33 01:50:27 m : AshtechGps::processRecord() - $GPGGA,152157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152200.00,,,,,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,152201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.12 16.01 4.02 4.04 0 28701.32 01:50:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152203.00,,,,,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,152204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.24 16.69 4.01 4.04 0 20281.38 01:50:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152206.00,,,,,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: $c1q0 d- 32.21 4.64 18.06 4.03 4.04 0 4192.82 01:50:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152210.00,,,,,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,152211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.08 16.01 4.02 4.04 0 28701.03 01:50:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 4.38 16.69 4.01 4.04 0 20280.92 01:50:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.91 18.06 4.03 4.04 0 4192.49 01:50:47 m : AshtechGps::processRecord() - $GPGGA,152217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152221.00,,,,,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,152222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.17 4.19 16.11 4.02 4.04 0 28700.59 01:50:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 4.27 16.69 4.01 4.04 0 20280.60 01:50:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 6.01 18.06 4.03 4.04 0 4191.94 01:50:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152228.00,,,,,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,152229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152231.00,,,,,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,152232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.17 4.08 16.01 4.02 4.04 0 28700.27 01:51:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 4.31 16.69 4.01 4.04 0 20280.14 01:51:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152235.00,,,,,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,152236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.60 18.06 4.03 4.04 0 4191.58 01:51:07 m : AshtechGps::processRecord() - $GPGGA,152237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152238.00,,,,,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,152239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.15 16.01 4.02 4.04 0 28699.82 01:51:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.33 4.27 16.69 4.01 4.04 0 20279.83 01:51:15 m : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.700962 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 21.305399 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152246.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.28 3.53 18.06 4.03 4.04 0 4191.07 01:51:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152247.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152249.00,,,,,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,152250.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152251.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.33 16.01 4.03 4.05 0 28699.61 01:51:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152253.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152254.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 3.84 16.69 4.03 4.05 0 20279.47 01:51:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 4.53 18.16 4.04 4.05 0 4190.82 01:51:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152257.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : AshtechGps::processRecord() - $GPGGA,152258.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152259.00,,,,,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,152300.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152301.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.19 16.01 4.03 4.05 0 28699.18 01:51:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152303.00,,,,,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,152304.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 4.27 16.69 4.03 4.05 0 20279.16 01:51:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152305.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152306.00,,,,,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: $c1q0 d- 32.25 5.42 18.16 4.04 4.05 0 4190.32 01:51:37 m : AshtechGps::processRecord() - $GPGGA,152307.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : AshtechGps::processRecord() - $GPGGA,152308.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152310.00,,,,,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,152311.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.75 16.01 4.02 4.04 0 28698.87 01:51:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152313.00,,,,,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,152314.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 3.95 16.69 4.01 4.04 0 20278.72 01:51:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152315.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152316.00,,,,,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: $c1q0 d- 32.21 4.57 18.06 4.03 4.04 0 4190.01 01:51:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152318.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152319.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152320.00,,,,,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,152321.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 3.75 16.01 4.02 4.04 0 28698.48 01:51:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 3.59 16.69 4.01 4.04 0 20278.43 01:51:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152325.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152326.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 4.12 18.06 4.03 4.04 0 4189.55 01:51:57 m : AshtechGps::processRecord() - $GPGGA,152327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152328.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152329.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152331.00,,,,,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,152332.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 3.67 16.01 4.02 4.04 0 28698.21 01:52:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152333.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 3.80 16.60 4.01 4.04 0 20278.01 01:52:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152335.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152336.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 4.29 17.96 4.03 4.04 0 4189.25 01:52:07 m : AshtechGps::processRecord() - $GPGGA,152337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152338.00,,,,,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,152339.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152340.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152341.00,,,,,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,152342.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.17 3.63 16.01 4.02 4.04 0 28697.76 01:52:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152343.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 3.73 16.60 4.01 4.04 0 20277.74 01:52:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152345.00,,,,,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,152346.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.25 4.15 17.96 4.03 4.04 0 4188.80 01:52:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152348.00,,,,,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,152349.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152350.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.78 15.91 4.02 4.04 0 28697.50 01:52:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152353.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 3.70 16.50 4.01 4.04 0 20277.33 01:52:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152355.00,,,,,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,152356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 4.26 17.87 4.03 4.04 0 4188.49 01:52:27 m : AshtechGps::processRecord() - $GPGGA,152357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152359.00,,,,,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,152400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.82 15.82 4.02 4.04 0 28697.10 01:52:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.33 4.06 16.50 4.01 4.04 0 20277.05 01:52:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152406.00,,,,,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: $c1q0 d- 32.21 4.64 17.87 4.03 4.04 0 4188.00 01:52:37 m : AshtechGps::processRecord() - $GPGGA,152407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152409.00,,,,,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,152410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.19 15.82 4.02 4.03 0 28696.79 01:52:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152413.00,,,,,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,152414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 5.10 16.50 4.01 4.03 0 20276.56 01:52:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 4.74 17.87 4.02 4.03 0 4187.66 01:52:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152420.00,,,,,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,152421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.26 15.91 4.02 4.03 0 28696.34 01:52:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152423.00,,,,,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,152424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.33 4.27 16.50 4.01 4.03 0 20276.23 01:52:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 5.29 17.87 4.02 4.03 0 4187.15 01:52:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152430.00,,,,,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,152431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.08 15.82 4.01 4.03 0 28696.05 01:53:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 4.06 16.50 4.01 4.03 0 20275.78 01:53:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.77 17.87 4.02 4.03 0 4186.82 01:53:07 m : AshtechGps::processRecord() - $GPGGA,152437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,152438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152441.00,,,,,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,152442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.17 3.93 15.82 4.01 4.03 0 28695.61 01:53:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 4.13 16.60 4.01 4.03 0 20275.47 01:53:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.43 17.87 4.02 4.03 0 4186.34 01:53:17 m : AshtechGps::processRecord() - $GPGGA,152447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152448.00,,,,,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,152449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152451.00,,,,,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,152452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 4.23 15.82 4.02 4.04 0 28695.32 01:53:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 4.20 16.50 4.01 4.03 0 20275.01 01:53:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152455.00,,,,,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,152456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.57 17.87 4.03 4.04 0 4186.01 01:53:27 m : AshtechGps::processRecord() - $GPGGA,152457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152458.00,,,,,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,152459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.00 15.82 4.02 4.04 0 28694.86 01:53:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.31 16.50 4.01 4.03 0 20274.70 01:53:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152505.00,,,,,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,152506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.21 4.60 17.87 4.03 4.04 0 4185.48 01:53:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.629825 under allowable altitude 15.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 14.629825 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.629825 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.629825 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.629825 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.629825 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.629825 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 21.172571 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,152510.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152511.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.25 1.11 15.82 4.02 4.03 0 28694.56 01:53:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152513.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152514.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.45 2.04 16.60 4.01 4.03 0 20274.35 01:53:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152516.00,,,,,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: $c1q0 d- 32.21 3.67 17.87 4.03 4.03 0 4185.26 01:53:47 m : AshtechGps::processRecord() - $GPGGA,152517.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152518.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152519.00,,,,,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,152520.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152521.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.12 15.82 4.02 4.03 0 28694.27 01:53:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152523.00,,,,,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,152524.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.33 4.09 16.60 4.01 4.03 0 20274.09 01:53:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152525.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 32.21 5.60 17.87 4.03 4.03 0 4184.80 01:53:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152527.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152528.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152530.00,,,,,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,152531.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.08 15.82 4.02 4.04 0 28693.97 01:54:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152533.00,,,,,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,152534.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.33 3.88 16.50 4.01 4.03 0 20273.63 01:54:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152535.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 4.15 17.87 4.03 4.04 0 4184.48 01:54:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152538.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152539.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152540.00,,,,,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,152541.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.48 15.82 4.02 4.04 0 28693.57 01:54:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 3.70 16.50 4.01 4.03 0 20273.36 01:54:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152545.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 4.43 17.87 4.03 4.04 0 4184.02 01:54:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152548.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152549.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152551.00,,,,,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,152552.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 3.71 15.82 4.02 4.04 0 28693.30 01:54:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152553.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 3.80 16.50 4.01 4.03 0 20272.93 01:54:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152555.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152556.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.19 17.87 4.03 4.04 0 4183.69 01:54:27 m : AshtechGps::processRecord() - $GPGGA,152557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152558.00,,,,,0,00,,,M,,M,,*46 : 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,152559.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152600.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152601.00,,,,,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,152602.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.17 3.82 15.72 4.02 4.04 0 28692.89 01:54:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152603.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.37 3.52 16.40 4.01 4.03 0 20272.65 01:54:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152605.00,,,,,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,152606.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 3.98 17.87 4.03 4.04 0 4183.22 01:54:37 m : AshtechGps::processRecord() - $GPGGA,152607.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152608.00,,,,,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,152609.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152610.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.82 15.72 4.02 4.03 0 28692.63 01:54:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152613.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 3.77 16.30 4.01 4.04 0 20272.23 01:54:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152615.00,,,,,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,152616.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.25 4.26 17.77 4.02 4.03 0 4182.92 01:54:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152617.00,,,,,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=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152619.00,,,,,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,152620.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.48 15.72 4.02 4.03 0 28692.18 01:54:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.33 3.52 16.30 4.01 4.04 0 20271.95 01:54:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152626.00,,,,,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: $c1q0 d- 32.21 4.22 17.77 4.02 4.03 0 4182.48 01:54:57 m : AshtechGps::processRecord() - $GPGGA,152627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,152628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152629.00,,,,,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,152630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.19 15.62 4.02 4.03 0 28691.92 01:55:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152633.00,,,,,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,152634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.49 16.30 4.01 4.03 0 20271.49 01:55:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152636.00,,,,,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: $c1q0 d- 32.17 4.77 17.67 4.02 4.03 0 4182.14 01:55:07 m : AshtechGps::processRecord() - $GPGGA,152637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,152638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152640.00,,,,,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,152641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.08 15.72 4.02 4.03 0 28691.47 01:55:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152643.00,,,,,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,152644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.33 4.13 16.30 4.01 4.03 0 20271.18 01:55:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 4.53 17.67 4.02 4.03 0 4181.62 01:55:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152650.00,,,,,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,152651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.00 15.72 4.02 4.03 0 28691.17 01:55:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.34 16.40 4.01 4.03 0 20270.72 01:55:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.77 17.67 4.02 4.03 0 4181.28 01:55:27 m : AshtechGps::processRecord() - $GPGGA,152657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,152658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152701.00,,,,,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,152702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 4.15 15.72 4.02 4.03 0 28690.72 01:55:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 32.30 4.49 16.40 4.01 4.03 0 20270.41 01:55:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 5.18 17.67 4.02 4.03 0 4180.78 01:55:37 m : AshtechGps::processRecord() - $GPGGA,152707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152708.00,,,,,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,152709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152711.00,,,,,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,152712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 4.00 15.72 4.01 4.03 0 28690.42 01:55:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.27 16.50 4.01 4.03 0 20269.96 01:55:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152715.00,,,,,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,152716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.84 17.77 4.02 4.03 0 4180.44 01:55:47 m : AshtechGps::processRecord() - $GPGGA,152717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,152718.00,,,,,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,152719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.00 15.72 4.01 4.03 0 28689.97 01:55:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.31 16.50 4.01 4.03 0 20269.65 01:55:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152725.00,,,,,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,152726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.14 6.35 17.67 4.02 4.03 0 4179.91 01:55:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152729.00,,,,,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,152730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.93 15.72 4.01 4.03 0 28689.68 01:56:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.34 16.50 4.01 4.03 0 20269.19 01:56:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.64 17.77 4.02 4.03 0 4179.57 01:56:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,152737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152739.00,,,,,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,152740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 1.78 15.72 4.01 4.03 0 28689.35 01:56:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152743.00,,,,,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,152744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.37 3.37 16.50 4.01 4.03 0 20268.99 01:56:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152746.00,,,,,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: $c1q0 d- 32.21 4.70 17.67 4.02 4.03 0 4179.21 01:56:17 m : AshtechGps::processRecord() - $GPGGA,152747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,152748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152750.00,,,,,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,152751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.15 15.72 4.02 4.03 0 28689.07 01:56:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152753.00,,,,,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,152754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 11.105506 under allowable altitude 15.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 11.105506 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.30 4.31 16.50 4.01 4.03 0 20268.54 01:56:25 m : DepthEnvelope -- Measured altitude 11.105506 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.105506 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.105506 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.105506 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.105506 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.509712 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.509712 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.509712 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.509712 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.509712 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.509712 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.70 17.77 4.02 4.03 0 4178.87 01:56:27 m : DepthEnvelope -- Measured altitude 10.509712 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.221970 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.614952 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.614952 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.614952 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.614952 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.614952 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.614952 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.614952 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.283883 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.264235 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.264235 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.264235 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.264235 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.29 0.66 15.72 4.02 4.03 0 28688.77 01:56:33 m : DepthEnvelope -- Measured altitude 7.264235 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.264235 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.264235 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.619780 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.619780 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.619780 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.619780 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.619780 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.619780 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.619780 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.41 1.18 16.50 4.01 4.03 0 20268.36 01:56:35 m : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.107860 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.391012 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.391012 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.391012 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.391012 under allowable altitude 15.000000. 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: $c1q0 d- 32.32 1.40 17.77 4.02 4.03 0 4178.62 01:56:37 m : DepthEnvelope -- Measured altitude 6.391012 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.391012 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.391012 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 6.829321 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.339687 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.339687 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 7.339687 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.339687 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.339687 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.339687 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.339687 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.948671 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.948671 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.948671 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.948671 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.948671 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.948671 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.948671 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.29 0.81 15.72 4.03 4.05 0 28688.70 01:56:43 m : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.224796 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.546959 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.546959 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.546959 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.546959 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.546959 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.546959 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 1.03 16.40 4.03 4.05 0 20268.26 01:56:45 m : DepthEnvelope -- Measured altitude 8.546959 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.913412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.984703 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.984703 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.36 1.37 17.77 4.04 4.05 0 4178.53 01:56:47 m : DepthEnvelope -- Measured altitude 8.984703 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.984703 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.984703 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.984703 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.984703 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.332844 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.596239 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.596239 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.596239 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.596239 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.596239 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.596239 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.596239 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.027180 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.027180 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.027180 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.027180 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.027180 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.027180 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.027180 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.29 0.70 15.72 4.03 4.05 0 28688.61 01:56:53 m : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.270545 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.109792 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.109792 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.109792 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.109792 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 0.89 16.30 4.03 4.05 0 20268.18 01:56:55 m : DepthEnvelope -- Measured altitude 10.109792 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.109792 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.109792 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 32.32 1.23 17.67 4.04 4.05 0 4178.38 01:56:57 m : DepthEnvelope -- Measured altitude 9.802591 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.726854 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.726854 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.726854 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.726854 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.726854 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.726854 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.726854 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.845098 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.827178 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.827178 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.827178 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.827178 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.827178 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.827178 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.827178 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.29 0.77 15.62 4.03 4.05 0 28688.56 01:57:03 m : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.063118 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.289143 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.289143 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.289143 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.289143 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.289143 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.289143 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.289143 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.375125 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.375125 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 0.89 16.30 4.03 4.05 0 20268.09 01:57:05 m : DepthEnvelope -- Measured altitude 10.375125 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.375125 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.375125 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.375125 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.375125 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 32.32 1.26 17.77 4.04 4.05 0 4178.29 01:57:07 m : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.700652 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.054009 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.054009 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 11.054009 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.054009 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.054009 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.054009 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.054009 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.386784 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.646015 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.646015 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.646015 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.646015 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.646015 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.646015 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.646015 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.29 0.70 15.72 4.03 4.05 0 28688.46 01:57:13 m : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.966174 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.216448 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.216448 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.216448 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.216448 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.216448 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.216448 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.216448 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.45 0.82 16.30 4.03 4.05 0 20268.01 01:57:15 m : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.399461 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.529869 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.529869 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 32.36 1.26 17.67 4.04 4.05 0 4178.16 01:57:17 m : DepthEnvelope -- Measured altitude 12.529869 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.529869 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.529869 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.529869 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.529869 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 12.710642 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.710642 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.710642 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.710642 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.710642 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.710642 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.710642 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.049065 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.159436 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.159436 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.159436 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.159436 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.159436 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.159436 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.159436 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.29 0.70 15.62 4.03 4.05 0 28688.41 01:57:23 m : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486899 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.965565 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.965565 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.965565 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.965565 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.965565 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.45 0.85 16.30 4.03 4.05 0 20267.92 01:57:25 m : DepthEnvelope -- Measured altitude 13.965565 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.965565 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203451 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.601150 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.36 1.30 17.57 4.04 4.05 0 4178.06 01:57:27 m : DepthEnvelope -- Measured altitude 14.601150 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.601150 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.601150 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.601150 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.601150 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : DepthEnvelope -- Measured altitude 14.601150 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.763157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.888570 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.888570 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.888570 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.888570 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.888570 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.888570 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.888570 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.272751 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.29 0.70 15.62 4.03 4.05 0 28688.34 01:57:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152903.00,,,,,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,152904.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.45 1.54 16.21 4.03 4.05 0 20267.86 01:57:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152905.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.25 3.84 17.48 4.04 4.05 0 4177.88 01:57:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152908.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152909.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152910.00,,,,,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,152911.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.82 15.52 4.02 4.04 0 28688.12 01:57:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 3.91 16.21 4.01 4.03 0 20267.47 01:57:45 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152915.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152916.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.77 17.48 4.03 4.04 0 4177.56 01:57:47 m : AshtechGps::processRecord() - $GPGGA,152917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152918.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152919.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152921.00,,,,,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,152922.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.21 3.00 15.62 4.02 4.04 0 28687.76 01:57:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152923.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 3.73 16.11 4.01 4.03 0 20267.22 01:57:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152925.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152926.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.57 17.48 4.03 4.04 0 4177.14 01:57:57 m : AshtechGps::processRecord() - $GPGGA,152927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152928.00,,,,,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,152929.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152930.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152931.00,,,,,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,152932.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 4.19 15.52 4.02 4.03 0 28687.47 01:58:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152933.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.38 16.21 4.01 4.03 0 20266.77 01:58:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.855442 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,152935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.855442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.855442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.855442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.855442 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.855442 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,152936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.855442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 25.628414 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.74 17.48 4.02 4.03 0 4176.80 01:58:07 m : AshtechGps::processRecord() - $GPGGA,152937.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,152938.00,,,,,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,152939.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152940.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 2.92 15.52 4.02 4.03 0 28687.08 01:58:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152943.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 3.70 16.11 4.01 4.03 0 20266.51 01:58:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152945.00,,,,,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,152946.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.39 17.48 4.02 4.03 0 4176.36 01:58:17 m : AshtechGps::processRecord() - $GPGGA,152947.00,,,,,0,00,,,M,,M,,*44 : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.016667 : AshtechGps::processRecord() - $GPGGA,152948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152949.00,,,,,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,152950.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152951.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.04 15.42 4.02 4.03 0 28686.82 01:58:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152953.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152954.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.02 16.11 4.01 4.03 0 20266.08 01:58:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,152956.00,,,,,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: $c1q0 d- 32.21 4.36 17.48 4.03 4.03 0 4176.03 01:58:27 m : AshtechGps::processRecord() - $GPGGA,152957.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,152958.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,152959.00,,,,,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,153000.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153001.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 4.41 15.42 4.02 4.03 0 28686.40 01:58:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153003.00,,,,,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,153004.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.33 3.84 16.11 4.01 4.03 0 20265.80 01:58:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153005.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.21 4.19 17.48 4.03 4.03 0 4175.58 01:58:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153007.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,153008.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153010.00,,,,,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,153011.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.45 15.42 4.01 4.03 0 28686.14 01:58:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153013.00,,,,,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,153014.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.16 16.01 4.01 4.03 0 20265.38 01:58:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153015.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153016.00,,,,,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: $c1q0 d- 32.17 4.39 17.48 4.02 4.03 0 4175.26 01:58:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153018.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153019.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,153020.00,,,,,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,153021.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 3.56 15.33 4.01 4.03 0 28685.70 01:58:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.27 16.01 4.01 4.03 0 20265.09 01:58:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,153025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 4.05 17.48 4.02 4.03 0 4174.77 01:58:57 m : AshtechGps::processRecord() - $GPGGA,153027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : **** EventTriggers::add() - attaching proxy : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153031.00,,,,,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,153032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 3.82 15.33 4.02 4.03 0 28685.45 01:59:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.16 16.01 4.01 4.03 0 20264.66 01:59:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.70 17.38 4.03 4.03 0 4174.46 01:59:07 m : AshtechGps::processRecord() - $GPGGA,153037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153038.00,,,,,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,153039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153041.00,,,,,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,153042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.10 4.19 15.33 4.02 4.03 0 28685.00 01:59:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.38 16.01 4.01 4.03 0 20264.35 01:59:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153045.00,,,,,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,153046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.77 17.28 4.03 4.03 0 4173.95 01:59:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153048.00,,,,,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,153049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.00 15.33 4.01 4.03 0 28684.71 01:59:23 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.52 16.01 4.01 4.03 0 20263.88 01:59:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153055.00,,,,,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,153056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.14 4.87 17.28 4.02 4.03 0 4173.61 01:59:27 m : AshtechGps::processRecord() - $GPGGA,153057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153059.00,,,,,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,153100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.15 15.33 4.01 4.03 0 28684.25 01:59:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.27 16.11 4.01 4.03 0 20263.56 01:59:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.64 17.38 4.02 4.03 0 4173.10 01:59:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153109.00,,,,,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,153110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.89 15.42 4.01 4.03 0 28683.97 01:59:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153113.00,,,,,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,153114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.92 16.11 4.01 4.03 0 20263.10 01:59:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.64 17.28 4.02 4.03 0 4172.77 01:59:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153120.00,,,,,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,153121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.89 15.33 4.01 4.03 0 28683.54 01:59:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153123.00,,,,,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,153124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.34 16.11 4.01 4.03 0 20262.81 01:59:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153126.00,,,,,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: $c1q0 d- 32.17 4.60 17.28 4.02 4.03 0 4172.28 01:59:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153130.00,,,,,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,153131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.12 15.42 4.01 4.03 0 28683.23 02:00:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 4.20 16.11 4.01 4.03 0 20262.35 02:00:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.64 17.38 4.02 4.03 0 4171.95 02:00:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153138.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153139.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153141.00,,,,,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,153142.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.10 4.08 15.33 4.01 4.03 0 28682.80 02:00:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 10 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 1108.974030) Behavior FireTheGulperAMC:266741 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:266741 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Gulper::fireGulper - cmd is $021Fff : BluefinBatt Reply: $c0q0 d- 32.30 4.16 16.11 4.01 4.03 0 20262.04 02:00:15 m : DepthEnvelope -- Measured altitude 13.465173 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.465173 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.465173 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.465173 under allowable altitude 15.000000. Stopping! : LayeredControl::execute() -- (t = 1110.593919) Behavior FireTheGulperAMC:266741 has changed to state Finished : LayeredControl - sending BehaviorFinished:266741 msg to VcsServer : DepthEnvelope -- Measured altitude 13.465173 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.465173 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.465173 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.39 17.38 4.02 4.03 0 4171.47 02:00:17 m : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.832693 under allowable altitude 15.000000. Stopping! : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : DynoLayeredControl::insert - inserting 1 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 11 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 1112.973756) Behavior FireTheGulperAMC:266710 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:266710 msg to VcsServer : DepthEnvelope -- Measured altitude 13.625906 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.625906 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,153148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.625906 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.625906 under allowable altitude 15.000000. Stopping! : Gulper::fireGulper - cmd is $031Fff : DepthEnvelope -- Measured altitude 13.625906 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.625906 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.625906 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.244899 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : LayeredControl::execute() -- (t = 1114.593645) Behavior FireTheGulperAMC:266710 has changed to state Finished : LayeredControl - sending BehaviorFinished:266710 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153150.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153151.00,,,,,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,153152.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.25 0.85 15.42 4.03 4.05 0 28682.64 02:00:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153153.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 2.91 16.11 4.03 4.05 0 20261.80 02:00:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153155.00,,,,,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,153156.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 3.98 17.48 4.04 4.05 0 4171.34 02:00:27 m : AshtechGps::processRecord() - $GPGGA,153157.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,153158.00,,,,,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,153159.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153200.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.15 15.42 4.03 4.05 0 28682.31 02:00:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153203.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.45 16.01 4.03 4.05 0 20261.50 02:00:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153205.00,,,,,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,153206.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.70 17.38 4.04 4.05 0 4170.85 02:00:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153207.00,,,,,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=1.75 : batts online 3, min cell voltage 4.030000, mean min cell voltage 4.033333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153209.00,,,,,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,153210.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153211.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.78 15.42 4.01 4.03 0 28682.02 02:00:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153213.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153214.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.02 16.01 4.01 4.03 0 20261.06 02:00:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.15 17.38 4.02 4.03 0 4170.49 02:00:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153217.00,,,,,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=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153218.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153219.00,,,,,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,153220.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153221.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.63 15.33 4.01 4.03 0 28681.58 02:00:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153223.00,,,,,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,153224.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 4.02 16.01 4.01 4.03 0 20260.79 02:00:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153225.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153226.00,,,,,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: $c1q0 d- 32.17 4.08 17.38 4.02 4.03 0 4170.04 02:00:57 m : AshtechGps::processRecord() - $GPGGA,153227.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153228.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153230.00,,,,,0,00,,,M,,M,,*4E : 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,153231.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 5.04 15.33 4.01 4.03 0 28681.32 02:01:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153233.00,,,,,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,153234.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 4.16 15.91 4.01 4.03 0 20260.37 02:01:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153235.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.36 17.38 4.02 4.03 0 4169.72 02:01:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153238.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153239.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153240.00,,,,,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,153241.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 3.63 15.33 4.01 4.03 0 28680.91 02:01:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 3.98 15.91 4.01 4.03 0 20260.08 02:01:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153245.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153246.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.19 17.28 4.02 4.03 0 4169.26 02:01:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153248.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153249.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153251.00,,,,,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,153252.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.10 3.71 15.23 4.01 4.03 0 28680.65 02:01:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153253.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 32.26 5.24 15.91 4.01 4.03 0 20259.67 02:01:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.12 17.28 4.02 4.03 0 4168.94 02:01:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153258.00,,,,,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,153259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153301.00,,,,,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,153302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 3.93 15.23 4.01 4.03 0 28680.25 02:01:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.34 15.82 4.01 4.03 0 20259.37 02:01:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153305.00,,,,,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,153306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.77 17.28 4.02 4.03 0 4168.45 02:01:37 m : AshtechGps::processRecord() - $GPGGA,153307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153308.00,,,,,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,153309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 5.45 15.23 4.01 4.03 0 28679.95 02:01:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.45 15.91 4.00 4.03 0 20258.91 02:01:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153315.00,,,,,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,153316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.74 17.28 4.02 4.03 0 4168.12 02:01:47 m : AshtechGps::processRecord() - $GPGGA,153317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,153318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153319.00,,,,,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,153320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.97 15.23 4.01 4.03 0 28679.49 02:01:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 4.27 15.91 4.00 4.03 0 20258.61 02:01:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.67 17.18 4.02 4.03 0 4167.62 02:01:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153329.00,,,,,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,153330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.04 15.23 4.01 4.03 0 28679.19 02:02:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153333.00,,,,,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,153334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.88 15.91 4.01 4.03 0 20258.16 02:02:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.60 17.28 4.02 4.03 0 4167.30 02:02:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153340.00,,,,,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,153341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 4.00 15.23 4.01 4.03 0 28678.76 02:02:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153343.00,,,,,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,153344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 4.24 15.91 4.01 4.03 0 20257.86 02:02:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153346.00,,,,,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: $c1q0 d- 32.17 4.50 17.28 4.02 4.03 0 4166.80 02:02:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153350.00,,,,,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,153351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.00 15.23 4.01 4.03 0 28678.47 02:02:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.16 16.01 4.00 4.03 0 20257.39 02:02:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.50 17.28 4.02 4.03 0 4166.42 02:02:27 m : AshtechGps::processRecord() - $GPGGA,153357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,153358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153401.00,,,,,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,153402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.10 3.97 15.23 4.01 4.03 0 28678.03 02:02:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.34 16.01 4.00 4.03 0 20257.09 02:02:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.573266 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : DepthEnvelope -- Measured altitude 14.573266 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.573266 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.573266 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.573266 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.573266 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.573266 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 19.376827 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.50 17.28 4.02 4.03 0 4165.89 02:02:37 m : AshtechGps::processRecord() - $GPGGA,153407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153408.00,,,,,0,00,,,M,,M,,*43 : 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,153409.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153410.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153411.00,,,,,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,153412.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 3.11 15.23 4.02 4.04 0 28677.82 02:02:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153413.00,,,,,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=1.75 : DepthEnvelope -- Measured altitude 13.751733 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.751733 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.751733 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.751733 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.751733 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.30 3.70 16.01 4.01 4.04 0 20256.74 02:02:45 m : DepthEnvelope -- Measured altitude 13.751733 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.751733 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,153415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.210861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.599969 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 2.50 17.28 4.03 4.04 0 4165.65 02:02:47 m : DepthEnvelope -- Measured altitude 14.599969 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.599969 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.599969 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.599969 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.599969 under allowable altitude 15.000000. 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 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : DepthEnvelope -- Measured altitude 14.599969 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.984156 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153419.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153420.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.21 1.66 15.33 4.02 4.04 0 28677.63 02:02:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153423.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 3.34 15.91 4.01 4.04 0 20256.64 02:02:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153425.00,,,,,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,153426.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 4.43 17.38 4.03 4.04 0 4165.41 02:02:57 m : AshtechGps::processRecord() - $GPGGA,153427.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,153428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153429.00,,,,,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,153430.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153431.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.15 15.23 4.01 4.03 0 28677.36 02:03:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153433.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153434.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 4.31 15.91 4.01 4.03 0 20256.19 02:03:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153436.00,,,,,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: $c1q0 d- 32.14 5.50 17.28 4.02 4.03 0 4165.07 02:03:07 m : AshtechGps::processRecord() - $GPGGA,153437.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153438.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153439.00,,,,,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,153440.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153441.00,,,,,0,00,,,M,,M,,*4E : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.93 15.23 4.01 4.03 0 28676.94 02:03:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153443.00,,,,,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,153444.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 4.02 15.91 4.01 4.03 0 20255.89 02:03:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153445.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153446.00,,,,,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: $c1q0 d- 32.17 4.32 17.38 4.02 4.03 0 4164.58 02:03:17 m : AshtechGps::processRecord() - $GPGGA,153447.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153448.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153450.00,,,,,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,153451.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.67 15.23 4.01 4.03 0 28676.66 02:03:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153453.00,,,,,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,153454.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 3.80 15.82 4.01 4.03 0 20255.47 02:03:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153455.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.17 4.05 17.28 4.02 4.03 0 4164.28 02:03:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153458.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153459.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153500.00,,,,,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,153501.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.59 15.23 4.01 4.03 0 28676.27 02:03:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.73 15.82 4.01 4.03 0 20255.19 02:03:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153505.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153506.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.19 17.18 4.02 4.03 0 4163.83 02:03:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,153508.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153509.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153511.00,,,,,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,153512.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 3.71 15.13 4.01 4.03 0 28676.01 02:03:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153513.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 4.02 15.82 4.01 4.03 0 20254.77 02:03:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153515.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153516.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.43 17.18 4.02 4.03 0 4163.50 02:03:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153518.00,,,,,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,153519.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153520.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,153522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.13 4.15 15.13 4.01 4.03 0 28675.59 02:03:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.80 15.72 4.01 4.03 0 20254.49 02:03:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153525.00,,,,,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,153526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.05 17.08 4.02 4.03 0 4163.03 02:03:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153528.00,,,,,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,153529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 5.53 15.03 4.01 4.03 0 28675.34 02:04:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.85 15.72 4.01 4.03 0 20254.06 02:04:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153535.00,,,,,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,153536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.14 4.74 17.08 4.02 4.03 0 4162.71 02:04:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153539.00,,,,,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,153540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.97 15.03 4.01 4.03 0 28674.90 02:04:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.34 15.72 4.01 4.03 0 20253.75 02:04:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 32.14 4.67 17.08 4.02 4.03 0 4162.19 02:04:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153549.00,,,,,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,153550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.34 15.13 4.01 4.03 0 28674.61 02:04:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153553.00,,,,,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,153554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.20 15.82 4.00 4.03 0 20253.29 02:04:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153556.00,,,,,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: $c1q0 d- 32.17 4.77 17.08 4.01 4.03 0 4161.83 02:04:27 m : AshtechGps::processRecord() - $GPGGA,153557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153600.00,,,,,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,153601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.23 15.03 4.01 4.03 0 28674.16 02:04:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153603.00,,,,,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,153604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 4.34 15.82 4.00 4.03 0 20252.98 02:04:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.14 4.64 17.08 4.01 4.03 0 4161.31 02:04:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153610.00,,,,,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,153611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.19 15.03 4.01 4.02 0 28673.86 02:04:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.45 15.82 4.00 4.03 0 20252.52 02:04:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 5.01 17.08 4.01 4.03 0 4160.97 02:04:47 m : AshtechGps::processRecord() - $GPGGA,153617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,153619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153621.00,,,,,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,153622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.10 4.04 15.13 4.01 4.02 0 28673.42 02:04:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.24 15.82 4.00 4.03 0 20252.17 02:04:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.14 4.77 17.08 4.01 4.03 0 4160.46 02:04:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153628.00,,,,,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,153629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153631.00,,,,,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,153632.00,,,,,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=1.75 : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 32.10 4.12 15.13 4.01 4.03 0 28673.13 02:05:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153633.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.42 15.82 4.00 4.03 0 20251.71 02:05:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153635.00,,,,,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,153636.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 4.70 17.18 4.01 4.03 0 4160.10 02:05:07 m : AshtechGps::processRecord() - $GPGGA,153637.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153638.00,,,,,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,153639.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153640.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,153642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.161377 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.06 4.26 15.13 4.01 4.03 0 28672.66 02:05:13 m : DepthEnvelope -- Measured altitude 12.584812 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.584812 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.584812 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.584812 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.584812 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.584812 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.584812 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.842877 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.842877 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.842877 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.842877 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.26 3.26 15.82 4.00 4.03 0 20251.40 02:05:15 m : DepthEnvelope -- Measured altitude 12.842877 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.842877 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.842877 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.241555 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 1.40 17.18 4.01 4.03 0 4159.68 02:05:17 m : DepthEnvelope -- altitude 15.722539 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,153647.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153649.00,,,,,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,153650.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153651.00,,,,,0,00,,,M,,M,,*4D : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 2.74 15.13 4.03 4.04 0 28672.59 02:05:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153653.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153654.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 3.77 15.82 4.02 4.04 0 20251.18 02:05:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153656.00,,,,,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: $c1q0 d- 32.17 4.67 17.18 4.03 4.04 0 4159.50 02:05:27 m : AshtechGps::processRecord() - $GPGGA,153657.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,153658.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153659.00,,,,,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,153700.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153701.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.00 15.13 4.03 4.04 0 28672.19 02:05:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153703.00,,,,,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,153704.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 4.42 15.82 4.02 4.04 0 20250.88 02:05:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153705.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153706.00,,,,,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: $c1q0 d- 32.14 4.77 17.08 4.03 4.04 0 4159.00 02:05:37 m : AshtechGps::processRecord() - $GPGGA,153707.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.026667 : AshtechGps::processRecord() - $GPGGA,153708.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153710.00,,,,,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,153711.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.04 15.03 4.01 4.03 0 28671.90 02:05:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153713.00,,,,,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,153714.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.27 15.72 4.00 4.03 0 20250.41 02:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153715.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153716.00,,,,,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: $c1q0 d- 32.17 4.29 17.18 4.01 4.03 0 4158.67 02:05:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153718.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153719.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153720.00,,,,,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,153721.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.71 15.03 4.01 4.03 0 28671.50 02:05:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 32.26 3.98 15.82 4.00 4.03 0 20250.12 02:05:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153725.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153726.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.12 17.08 4.01 4.03 0 4158.18 02:05:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153728.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153729.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153731.00,,,,,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,153732.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.10 3.97 15.03 4.01 4.03 0 28671.25 02:06:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153733.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.98 15.72 4.00 4.03 0 20249.70 02:06:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153735.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153736.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.17 4.46 17.08 4.02 4.03 0 4157.87 02:06:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153738.00,,,,,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,153739.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153740.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153741.00,,,,,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,153742.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 4.45 15.03 4.01 4.03 0 28670.85 02:06:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153743.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 3.91 15.72 4.00 4.03 0 20249.43 02:06:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153745.00,,,,,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,153746.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.14 4.05 17.08 4.02 4.03 0 4157.42 02:06:17 m : AshtechGps::processRecord() - $GPGGA,153747.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,153748.00,,,,,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,153749.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153750.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.12 15.03 4.01 4.03 0 28670.58 02:06:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153753.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.91 15.62 4.00 4.03 0 20248.98 02:06:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153755.00,,,,,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,153756.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.14 4.12 17.08 4.02 4.03 0 4157.11 02:06:27 m : AshtechGps::processRecord() - $GPGGA,153757.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,153758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153759.00,,,,,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,153800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.89 14.94 4.01 4.03 0 28670.20 02:06:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.06 15.62 4.00 4.03 0 20248.70 02:06:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.14 4.50 17.08 4.02 4.03 0 4156.66 02:06:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153809.00,,,,,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,153810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.00 14.94 4.01 4.03 0 28669.93 02:06:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153813.00,,,,,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,153814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 4.85 15.62 4.00 4.03 0 20248.25 02:06:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.10 4.74 16.99 4.01 4.03 0 4156.33 02:06:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153820.00,,,,,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,153821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.00 15.03 4.01 4.03 0 28669.49 02:06:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153823.00,,,,,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,153824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 5.28 15.62 4.00 4.03 0 20247.90 02:06:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153826.00,,,,,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: $c1q0 d- 32.10 4.87 16.99 4.01 4.03 0 4155.81 02:06:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153830.00,,,,,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,153831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 4.15 14.94 4.01 4.03 0 28669.18 02:07:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.42 15.72 4.00 4.02 0 20247.43 02:07:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 4.87 16.99 4.01 4.02 0 4155.47 02:07:07 m : AshtechGps::processRecord() - $GPGGA,153837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,153838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153841.00,,,,,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,153842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 4.12 15.03 4.01 4.03 0 28668.73 02:07:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.45 15.72 4.00 4.02 0 20247.12 02:07:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.14 4.84 16.99 4.01 4.02 0 4154.95 02:07:17 m : AshtechGps::processRecord() - $GPGGA,153847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153848.00,,,,,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,153849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153851.00,,,,,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,153852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.02 4.26 15.03 4.00 4.03 0 28668.43 02:07:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.34 15.72 4.00 4.02 0 20246.65 02:07:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153855.00,,,,,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,153856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 4.84 16.99 4.01 4.02 0 4154.61 02:07:27 m : AshtechGps::processRecord() - $GPGGA,153857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,153858.00,,,,,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,153859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 32.06 4.04 14.94 4.00 4.03 0 28667.99 02:07:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.27 15.82 4.00 4.02 0 20246.35 02:07:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153905.00,,,,,0,00,,,M,,M,,*43 : 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,153906.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.10 4.81 16.99 4.01 4.02 0 4154.11 02:07:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153907.00,,,,,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=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153909.00,,,,,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,153910.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153911.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.89 15.03 4.00 4.02 0 28667.71 02:07:43 m : DepthEnvelope -- Measured altitude 14.332514 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.332514 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.332514 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.332514 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.332514 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.332514 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.332514 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.22 3.84 15.72 4.00 4.02 0 20245.90 02:07:45 m : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.770223 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.418544 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.418544 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.418544 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,153916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.418544 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.418544 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.418544 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.418544 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.21 2.16 17.08 4.01 4.02 0 4153.79 02:07:47 m : DepthEnvelope -- Measured altitude 14.925484 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.925484 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.925484 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.925484 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.925484 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 14.925484 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,153918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.925484 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.672036 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153919.00,,,,,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,153920.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153921.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 1.70 15.03 4.00 4.02 0 28667.51 02:07:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153923.00,,,,,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,153924.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 3.16 15.72 4.00 4.02 0 20245.83 02:07:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153925.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153926.00,,,,,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: $c1q0 d- 32.10 4.98 17.08 4.01 4.02 0 4153.53 02:07:57 m : AshtechGps::processRecord() - $GPGGA,153927.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,153928.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153930.00,,,,,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,153931.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.26 15.03 4.00 4.02 0 28667.24 02:08:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153933.00,,,,,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,153934.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.38 15.62 4.00 4.02 0 20245.39 02:08:05 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153935.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 4.94 17.08 4.01 4.02 0 4153.19 02:08:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153938.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153939.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153940.00,,,,,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,153941.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.78 15.03 4.00 4.02 0 28666.82 02:08:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.84 15.62 4.00 4.02 0 20245.08 02:08:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153945.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.14 4.39 17.08 4.01 4.02 0 4152.71 02:08:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153948.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153949.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153951.00,,,,,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,153952.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 3.59 14.94 4.01 4.03 0 28666.56 02:08:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153953.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153954.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.80 15.62 4.00 4.03 0 20244.62 02:08:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153955.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,153956.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 4.36 16.99 4.01 4.03 0 4152.40 02:08:27 m : AshtechGps::processRecord() - $GPGGA,153957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,153958.00,,,,,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,153959.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154000.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154001.00,,,,,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,154002.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 3.67 14.84 4.01 4.03 0 28666.15 02:08:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154003.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154004.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 5.24 15.52 4.00 4.03 0 20244.34 02:08:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154005.00,,,,,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,154006.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.14 4.53 16.99 4.01 4.03 0 4151.93 02:08:37 m : AshtechGps::processRecord() - $GPGGA,154007.00,,,,,0,00,,,M,,M,,*4F : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,154008.00,,,,,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,154009.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154010.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154011.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154012.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 3.56 14.84 4.01 4.03 0 28665.88 02:08:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154013.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154014.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.95 15.52 4.00 4.03 0 20243.91 02:08:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154015.00,,,,,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,154016.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 4.32 16.99 4.01 4.03 0 4151.62 02:08:47 m : AshtechGps::processRecord() - $GPGGA,154017.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,154018.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154019.00,,,,,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,154020.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154021.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154022.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.30 14.94 4.01 4.03 0 28665.50 02:08:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154023.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154024.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 3.95 15.52 4.00 4.03 0 20243.64 02:08:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154025.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154026.00,,,,,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: $c1q0 d- 32.10 4.94 16.99 4.01 4.03 0 4151.13 02:08:57 m : AshtechGps::processRecord() - $GPGGA,154027.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,154028.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154029.00,,,,,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,154030.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154031.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154032.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.00 14.84 4.01 4.03 0 28665.22 02:09:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154033.00,,,,,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,154034.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.34 15.52 4.00 4.02 0 20243.20 02:09:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154035.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154036.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.10 4.77 16.89 4.01 4.03 0 4150.79 02:09:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154037.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154038.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154039.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154040.00,,,,,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,154041.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154042.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.04 14.94 4.01 4.03 0 28664.75 02:09:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154043.00,,,,,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,154044.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.34 15.52 4.00 4.02 0 20242.89 02:09:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154045.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154046.00,,,,,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: $c1q0 d- 32.06 4.74 16.99 4.01 4.03 0 4150.28 02:09:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154047.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,154048.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154049.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154050.00,,,,,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,154051.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154052.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.23 14.84 4.00 4.02 0 28664.45 02:09:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154054.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.09 15.62 4.00 4.02 0 20242.40 02:09:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 4.91 16.89 4.01 4.02 0 4149.92 02:09:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154057.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154058.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154059.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154101.00,,,,,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,154102.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 3.85 14.84 4.00 4.02 0 28664.03 02:09:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154104.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.24 15.62 4.00 4.02 0 20242.11 02:09:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 5.15 16.89 4.01 4.02 0 4149.43 02:09:37 m : AshtechGps::processRecord() - $GPGGA,154107.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154108.00,,,,,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,154109.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154111.00,,,,,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,154112.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.02 3.85 14.94 4.00 4.02 0 28663.74 02:09:43 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154114.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.34 15.62 4.00 4.02 0 20241.66 02:09:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154115.00,,,,,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,154116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.98 16.99 4.01 4.02 0 4149.09 02:09:47 m : AshtechGps::processRecord() - $GPGGA,154117.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154118.00,,,,,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,154119.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154120.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154121.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154122.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 4.00 14.94 4.00 4.02 0 28663.32 02:09:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154124.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 4.20 15.62 4.00 4.02 0 20241.36 02:09:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154125.00,,,,,0,00,,,M,,M,,*4E : 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,154126.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 4.46 16.89 4.01 4.02 0 4148.60 02:09:57 m : AshtechGps::processRecord() - $GPGGA,154127.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154128.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154129.00,,,,,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,154130.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154131.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154132.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.437087 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.437087 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.06 3.82 14.94 4.00 4.02 0 28663.04 02:10:03 m : DepthEnvelope -- Measured altitude 14.437087 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.437087 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.437087 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.437087 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.437087 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154134.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.22 3.98 15.62 4.00 4.02 0 20240.89 02:10:05 m : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.556752 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.494432 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.494432 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.494432 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.494432 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.494432 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.494432 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.494432 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 32.25 1.30 16.99 4.01 4.02 0 4148.28 02:10:07 m : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154137.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.250038 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154138.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.666694 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154139.00,,,,,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,154140.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154141.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154142.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 1.59 14.94 4.00 4.02 0 28662.84 02:10:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154143.00,,,,,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,154144.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 3.88 15.62 4.00 4.02 0 20240.82 02:10:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154145.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154146.00,,,,,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: $c1q0 d- 32.10 4.60 16.99 4.01 4.02 0 4148.01 02:10:17 m : AshtechGps::processRecord() - $GPGGA,154147.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154148.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154149.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154150.00,,,,,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,154151.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154152.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.15 14.84 4.00 4.02 0 28662.57 02:10:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154153.00,,,,,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,154154.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.34 15.52 4.00 4.02 0 20240.40 02:10:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154155.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.10 4.67 16.99 4.01 4.02 0 4147.68 02:10:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154157.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154158.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154159.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154200.00,,,,,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,154201.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154202.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.89 14.84 4.00 4.02 0 28662.15 02:10:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154204.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.73 15.62 4.00 4.02 0 20240.11 02:10:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154205.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.10 4.64 16.99 4.01 4.02 0 4147.20 02:10:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154207.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154208.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154209.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154210.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154211.00,,,,,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,154212.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 3.63 14.84 4.01 4.03 0 28661.88 02:10:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154213.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154214.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.88 15.52 4.00 4.02 0 20239.66 02:10:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154215.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154216.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.10 4.29 16.89 4.01 4.02 0 4146.91 02:10:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154217.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154218.00,,,,,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,154219.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154220.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154221.00,,,,,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,154222.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 3.48 14.84 4.01 4.03 0 28661.46 02:10:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154223.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154224.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.84 15.42 4.00 4.02 0 20239.40 02:10:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154225.00,,,,,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,154226.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.10 4.43 16.89 4.01 4.02 0 4146.45 02:10:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154227.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154228.00,,,,,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,154229.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154230.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154231.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154232.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.78 14.74 4.00 4.02 0 28661.18 02:11:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154233.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154234.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 5.39 15.42 4.00 4.02 0 20238.99 02:11:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154235.00,,,,,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,154236.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 32.06 4.60 16.89 4.01 4.02 0 4146.14 02:11:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154237.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154238.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154239.00,,,,,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,154240.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154241.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154242.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.85 14.74 4.00 4.02 0 28660.80 02:11:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154244.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.02 15.42 4.00 4.02 0 20238.71 02:11:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154246.00,,,,,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: $c1q0 d- 32.10 4.70 16.89 4.01 4.02 0 4145.68 02:11:17 m : AshtechGps::processRecord() - $GPGGA,154247.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154248.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154249.00,,,,,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,154250.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154251.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154252.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.23 14.74 4.00 4.02 0 28660.50 02:11:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154253.00,,,,,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,154254.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 4.31 15.42 3.99 4.02 0 20238.24 02:11:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154256.00,,,,,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: $c1q0 d- 32.06 4.91 16.79 4.01 4.02 0 4145.34 02:11:27 m : AshtechGps::processRecord() - $GPGGA,154257.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,154258.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154259.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154300.00,,,,,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,154301.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154302.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.12 14.74 4.00 4.02 0 28660.07 02:11:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154303.00,,,,,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,154304.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 4.34 15.42 3.99 4.02 0 20237.94 02:11:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154306.00,,,,,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: $c1q0 d- 32.10 4.67 16.79 4.01 4.02 0 4144.84 02:11:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154307.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,154308.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154309.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154310.00,,,,,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,154311.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154312.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.15 14.74 4.00 4.02 0 28659.80 02:11:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154314.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.06 15.42 4.00 4.02 0 20237.50 02:11:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154315.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.77 16.79 4.01 4.02 0 4144.52 02:11:47 m : AshtechGps::processRecord() - $GPGGA,154317.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : LayeredControl::execute() -- (t = 1802.996486) Behavior waypoint_yoyo:12389 has changed to state Finished : LayeredControl - sending BehaviorFinished:12389 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,154318.00,,,,,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,154319.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154321.00,,,,,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,154322.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 32.02 3.78 14.84 4.00 4.02 0 28659.38 02:11:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : 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,154324.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.67 15.52 4.00 4.02 0 20237.20 02:11:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154325.00,,,,,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,154326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : BluefinBatt Reply: $c1q0 d- 32.10 4.70 16.69 4.01 4.02 0 4144.02 02:11:57 m : DynoLayeredControl::insert - stack now contains 12 behaviors : LayeredControl::execute() -- (t = 1811.775885) Behavior ascend:445528 has changed to state Active : LayeredControl - ascend BehaviorStarted:445528 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154327.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154328.00,,,,,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,154329.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154331.00,,,,,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,154332.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 32.10 2.82 14.84 4.00 4.02 0 28659.09 02:12:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154334.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.12 15.52 4.00 4.02 0 20236.79 02:12:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154335.00,,,,,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,154336.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 32.17 3.12 16.79 4.01 4.02 0 4143.74 02:12:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154337.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154338.00,,,,,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,154339.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154340.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154341.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154342.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 2.70 14.84 4.00 4.02 0 28658.82 02:12:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154343.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154344.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 2.91 15.52 4.00 4.02 0 20236.61 02:12:15 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154345.00,,,,,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,154346.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 32.17 3.33 16.89 4.01 4.02 0 4143.41 02:12:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154347.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154348.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154349.00,,,,,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,154350.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154351.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154352.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 3.11 14.74 4.01 4.03 0 28658.64 02:12:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154353.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154354.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.26 2.80 15.42 4.00 4.03 0 20236.30 02:12:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154356.00,,,,,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: $c1q0 d- 32.14 4.26 16.89 4.02 4.03 0 4143.19 02:12:27 m : AshtechGps::processRecord() - $GPGGA,154357.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,154358.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154359.00,,,,,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,154400.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154401.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154402.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 2.44 14.74 4.01 4.03 0 28658.37 02:12:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154403.00,,,,,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,154404.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.26 2.80 15.42 4.00 4.03 0 20236.11 02:12:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154406.00,,,,,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: $c1q0 d- 32.17 3.12 16.89 4.02 4.03 0 4142.85 02:12:37 m : AshtechGps::processRecord() - $GPGGA,154407.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,154408.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154409.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154410.00,,,,,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,154411.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154412.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 2.41 14.74 4.01 4.03 0 28658.19 02:12:43 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154413.00,,,,,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,154414.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.26 2.73 15.42 4.00 4.03 0 20235.83 02:12:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.14 3.12 16.79 4.02 4.03 0 4142.63 02:12:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154417.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154418.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154419.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154420.00,,,,,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,154421.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 2.48 14.74 4.01 4.03 0 28657.94 02:12:53 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154424.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.26 2.76 15.42 4.00 4.03 0 20235.64 02:12:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154425.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.14 3.26 16.79 4.02 4.03 0 4142.31 02:12:57 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154428.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 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,154429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154430.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154431.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 1876.201472) Behavior ascend:445528 has changed to state Finished : LayeredControl - sending BehaviorFinished:445528 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,154432.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 32.10 2.89 14.74 4.01 4.03 0 28657.76 02:13:03 m : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 13 behaviors : LayeredControl::execute() -- (t = 1878.171337) Behavior getgps:462824 has changed to state Active : LayeredControl - getgps BehaviorStarted:462824 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,154433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.30 1.97 15.33 4.00 4.03 0 20235.29 02:13:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154435.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154436.00,3650.22089,N,12152.40340,W,1,08,0.9,-2.93,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 1 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: $c1q0 d- 32.17 2.06 16.69 4.02 4.03 0 4142.06 02:13:07 m : AshtechGps::processRecord() - $GPGGA,154437.00,3650.22149,N,12152.40350,W,1,08,0.9,-2.89,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154438.00,3650.22214,N,12152.40353,W,1,08,0.9,-2.61,M,-32.59,M,,*7B : 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,154439.00,3650.22295,N,12152.40325,W,1,08,0.9,-2.79,M,-32.59,M,,*7B : 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,154440.00,3650.22337,N,12152.40362,W,1,08,0.9,-2.86,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154441.00,3650.22407,N,12152.40339,W,1,08,0.9,-3.78,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154442.00,,,,,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: $aaq0 d- 32.10 2.03 14.64 4.01 4.03 0 28657.58 02:13:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154443.00,,,,,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,154444.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.33 0.96 15.33 4.00 4.03 0 20235.21 02:13:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154445.00,,,,,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,154446.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 32.21 1.44 16.69 4.02 4.03 0 4141.90 02:13:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154447.00,,,,,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 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.010000 : AshtechGps::processRecord() - $GPGGA,154448.00,,,,,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,154449.00,,,,,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,154450.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154451.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154452.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.17 0.74 14.64 4.02 4.04 0 28657.53 02:13:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154453.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154454.00,3650.22719,N,12152.40568,W,1,07,1.6,0.62,M,-32.59,M,,*5A : GetGPS::execute() -- Got a new GPS hit: 7 of 30 needed : BluefinBatt Reply: $c0q0 d- 32.37 1.14 15.33 4.01 4.04 0 20235.07 02:13:25 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,154455.00,3650.22951,N,12152.40471,W,1,10,0.8,-6.28,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 8 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154456.00,3650.22878,N,12152.40615,W,1,10,0.8,-2.95,M,-32.59,M,,*77 : 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 : BluefinBatt Reply: $c1q0 d- 32.25 1.26 16.69 4.03 4.04 0 4141.80 02:13:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154457.00,3650.22878,N,12152.40679,W,1,10,0.8,-2.97,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : AshtechGps::processRecord() - $GPGGA,154458.00,3650.22858,N,12152.40664,W,1,10,0.8,-2.81,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 11 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154459.00,3650.22914,N,12152.40671,W,1,10,0.8,-3.54,M,-32.59,M,,*7D : 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,154500.00,3650.22935,N,12152.40698,W,1,10,0.8,-3.32,M,-32.59,M,,*74 : 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 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,154501.00,3650.22946,N,12152.40691,W,1,10,0.8,-3.45,M,-32.59,M,,*78 : 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,154502.00,3650.22950,N,12152.40693,W,1,10,0.8,-3.36,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 15 of 30 needed : BluefinBatt Reply: $aaq0 d- 32.13 0.96 14.64 4.02 4.04 0 28657.42 02:13:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154503.00,3650.22960,N,12152.40701,W,1,10,0.8,-3.93,M,-32.59,M,,*7D : 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,154504.00,3650.22977,N,12152.40731,W,1,10,0.8,-4.22,M,-32.59,M,,*72 : 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 : BluefinBatt Reply: $c0q0 d- 32.33 1.07 15.23 4.01 4.04 0 20234.99 02:13:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154505.00,3650.22988,N,12152.40759,W,1,10,0.8,-3.82,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 18 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154506.00,3650.22992,N,12152.40779,W,1,10,0.8,-3.69,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : BluefinBatt Reply: $c1q0 d- 32.21 1.44 16.69 4.03 4.04 0 4141.65 02:13:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154507.00,3650.23001,N,12152.40798,W,1,10,0.8,-3.37,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154508.00,3650.23012,N,12152.40813,W,1,10,0.8,-3.37,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 21 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,154509.00,3650.23020,N,12152.40833,W,1,10,0.8,-3.40,M,-32.59,M,,*7B : 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,154510.00,3650.23027,N,12152.40842,W,1,10,0.8,-3.21,M,-32.59,M,,*75 : 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,154511.00,3650.23023,N,12152.40824,W,1,10,0.8,-2.99,M,-32.59,M,,*72 : 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,154512.00,3650.23044,N,12152.40838,W,1,10,0.8,-3.54,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 25 of 30 needed : BluefinBatt Reply: $aaq0 d- 32.17 0.96 14.64 4.02 4.04 0 28657.35 02:13:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154513.00,3650.23039,N,12152.40874,W,1,10,0.8,-3.92,M,-32.59,M,,*74 : 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,154514.00,3650.23056,N,12152.40913,W,1,10,0.8,-3.91,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.33 1.03 15.33 4.01 4.04 0 20234.87 02:13:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154515.00,3650.23050,N,12152.40929,W,1,10,0.8,-3.56,M,-32.59,M,,*7C : 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,154516.00,3650.23065,N,12152.40926,W,1,10,0.8,-3.06,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 29 of 30 needed : BluefinBatt Reply: $c1q0 d- 32.21 1.51 16.69 4.03 4.04 0 4141.53 02:13:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154517.00,3650.23060,N,12152.40905,W,1,10,0.8,-2.90,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 1922.198321) Behavior getgps:462824 has changed to state Finished : LayeredControl - sending BehaviorFinished:462824 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 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154518.00,3650.23062,N,12152.40895,W,1,10,0.8,-3.09,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,154519.00,3650.23063,N,12152.40909,W,1,10,0.8,-3.44,M,-32.59,M,,*71 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 14 behaviors : LayeredControl::execute() -- (t = 1924.568158) Behavior setpoint:474563 has changed to state Active : LayeredControl - setpoint BehaviorStarted:474563 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154520.00,3650.23067,N,12152.40932,W,1,10,0.8,-3.77,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154521.00,3650.23078,N,12152.40969,W,1,10,0.8,-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,154522.00,3650.23081,N,12152.40995,W,1,10,0.8,-3.45,M,-32.59,M,,*71 : BluefinBatt Reply: $aaq0 d- 32.17 0.85 14.64 4.02 4.04 0 28657.26 02:13:53 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,154523.00,3650.23092,N,12152.40996,W,1,10,0.8,-3.00,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154524.00,3650.23090,N,12152.40989,W,1,10,0.8,-2.84,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.33 1.03 15.23 4.01 4.04 0 20234.79 02:13:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154525.00,3650.23099,N,12152.41000,W,1,10,0.8,-3.12,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,154526.00,3650.23099,N,12152.40992,W,1,10,0.8,-3.13,M,-32.59,M,,*78 : BluefinBatt Reply: $c1q0 d- 32.25 1.44 16.60 4.03 4.04 0 4141.38 02:13:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154527.00,3650.23108,N,12152.40994,W,1,10,0.8,-3.31,M,-32.59,M,,*76 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.020000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154528.00,3650.23108,N,12152.41004,W,1,10,0.8,-3.62,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,154529.00,3650.23115,N,12152.41034,W,1,10,0.8,-3.56,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,154530.00,3650.23109,N,12152.41048,W,1,11,0.7,-3.47,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154531.00,3650.23121,N,12152.41061,W,1,11,0.7,-3.20,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,154532.00,3650.23118,N,12152.41051,W,1,11,0.7,-3.12,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 32.17 0.81 14.64 4.02 4.04 0 28657.21 02:14:03 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,154533.00,3650.23124,N,12152.41059,W,1,11,0.7,-3.22,M,-32.59,M,,*78 : Isus::select() timeout : LayeredControl::execute() -- (t = 1938.597197) Behavior setpoint:474563 has changed to state Finished : LayeredControl - sending BehaviorFinished:474563 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,154534.00,3650.23121,N,12152.41068,W,1,11,0.7,-3.28,M,-32.59,M,,*72 : BluefinBatt Reply: $c0q0 d- 32.37 1.03 15.23 4.02 4.04 0 20234.65 02:14:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154535.00,3650.23133,N,12152.41078,W,1,11,0.7,-3.19,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 15 behaviors : LayeredControl::execute() -- (t = 1940.757049) Behavior setpoint:478939 has changed to state Active : LayeredControl - setpoint BehaviorStarted:478939 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154536.00,3650.23136,N,12152.41076,W,1,11,0.7,-3.16,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.25 1.33 16.60 4.03 4.04 0 4141.27 02:14:07 m : AshtechGps::processRecord() - $GPGGA,154537.00,3650.23137,N,12152.41082,W,1,11,0.7,-3.32,M,-32.59,M,,*79 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 16 behaviors : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : AshtechGps::processRecord() - $GPGGA,154538.00,3650.23139,N,12152.41087,W,1,11,0.7,-3.24,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154539.00,3650.23137,N,12152.41098,W,1,11,0.7,-3.41,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154540.00,3650.23143,N,12152.41117,W,1,11,0.7,-3.32,M,-32.59,M,,*77 : LayeredControl::execute() -- (t = 1945.796704) Behavior setpoint:478939 has changed to state Finished : LayeredControl - sending BehaviorFinished:478939 msg to VcsServer : LayeredControl::execute() -- (t = 1945.796704) Behavior descend:478897 has changed to state Active : LayeredControl - descend BehaviorStarted:478897 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154541.00,3650.23139,N,12152.41135,W,1,11,0.7,-3.30,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154542.00,3650.23130,N,12152.41162,W,1,11,0.7,-3.37,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 3.85 14.64 4.02 4.04 0 28657.03 02:14:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154543.00,3650.23112,N,12152.41169,W,1,11,0.7,-3.08,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154544.00,3650.23091,N,12152.41178,W,1,11,0.7,-3.17,M,-32.59,M,,*73 : BluefinBatt Reply: $c0q0 d- 32.22 3.91 15.33 4.02 4.04 0 20234.50 02:14:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154545.00,3650.23071,N,12152.41213,W,1,11,0.7,-3.62,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154546.00,3650.23057,N,12152.41272,W,1,11,0.7,-3.86,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.14 3.46 16.60 4.03 4.04 0 4140.94 02:14:17 m : AshtechGps::processRecord() - $GPGGA,154547.00,3650.23047,N,12152.41329,W,1,11,0.7,-3.29,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.020000, mean min cell voltage 4.023333 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154548.00,3650.23028,N,12152.41351,W,1,11,0.7,-2.41,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154549.00,3650.23008,N,12152.41372,W,1,11,0.7,-2.64,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154550.00,3650.22981,N,12152.41407,W,1,11,0.7,-2.94,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154551.00,3650.22978,N,12152.41452,W,1,11,0.7,-3.06,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154552.00,3650.22957,N,12152.41507,W,1,11,0.7,-3.14,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.02 3.59 14.55 4.01 4.03 0 28656.78 02:14:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154553.00,3650.22939,N,12152.41571,W,1,11,0.7,-3.22,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154554.00,3650.22936,N,12152.41650,W,1,11,0.7,-3.61,M,-32.59,M,,*7B : BluefinBatt Reply: $c0q0 d- 32.22 3.41 15.23 4.00 4.02 0 20234.08 02:14:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154555.00,3650.22932,N,12152.41736,W,1,11,0.7,-3.47,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154556.00,3650.22952,N,12152.41799,W,1,11,0.7,-3.01,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.39 16.60 4.01 4.03 0 4140.63 02:14:27 m : AshtechGps::processRecord() - $GPGGA,154557.00,3650.22950,N,12152.41868,W,1,11,0.7,-2.80,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,154558.00,3650.22964,N,12152.41920,W,1,11,0.7,-2.67,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154559.00,3650.22984,N,12152.41980,W,1,11,0.7,-3.14,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154600.00,3650.23017,N,12152.42067,W,1,11,0.7,-3.84,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154601.00,3650.23057,N,12152.42140,W,1,11,0.7,-3.92,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154602.00,3650.23079,N,12152.42220,W,1,10,0.8,-3.25,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 31.98 4.71 14.55 4.01 4.03 0 28656.39 02:14:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154603.00,3650.23153,N,12152.42266,W,1,11,0.7,-3.25,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154604.00,3650.23195,N,12152.42336,W,1,11,0.7,-3.51,M,-32.59,M,,*78 : BluefinBatt Reply: $c0q0 d- 32.22 4.16 15.23 4.00 4.02 0 20233.79 02:14:35 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154605.00,3650.23250,N,12152.42365,W,1,11,0.7,-3.21,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154606.00,3650.23296,N,12152.42413,W,1,11,0.7,-2.76,M,-32.59,M,,*7E : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.10 4.60 16.69 4.01 4.03 0 4140.14 02:14:37 m : AshtechGps::processRecord() - $GPGGA,154607.00,3650.23361,N,12152.42409,W,1,08,0.9,-2.64,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : AshtechGps::processRecord() - $GPGGA,154608.00,3650.23433,N,12152.42431,W,1,08,0.9,-3.03,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154609.00,3650.23499,N,12152.42453,W,1,10,0.8,-3.21,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154610.00,3650.23588,N,12152.42457,W,1,11,0.7,-3.70,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154611.00,3650.23646,N,12152.42471,W,1,11,0.7,-3.83,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154612.00,3650.23728,N,12152.42452,W,1,11,0.7,-3.62,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 32.10 2.82 14.64 4.00 4.02 0 28656.06 02:14:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154613.00,3650.23820,N,12152.42464,W,1,11,0.7,-3.46,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154614.00,3650.23889,N,12152.42443,W,1,11,0.7,-3.13,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.26 2.30 15.23 4.00 4.02 0 20233.39 02:14:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154615.00,3650.23965,N,12152.42381,W,1,11,0.7,-5.51,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154616.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.10 3.57 16.69 4.01 4.02 0 4139.83 02:14:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154618.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=0.01 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Descend::execute() - Descend terminating on depth 2.052488 > 2.000000 at time 1983.994087 : LayeredControl::execute() -- (t = 1983.994087) Behavior descend:478897 has changed to state Finished : LayeredControl - sending BehaviorFinished:478897 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,154619.00,,,,,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,154620.00,,,,,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 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : StatePublisher: Updating state vector : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 17 behaviors : Waypoint Initialization: Begin waypoint control at t= 1985.96 (wplog) The current location (N,E) = 4077424.0 , 600427.3 (wplog) The next waypoint = 4078803.0 , 600466.0 (wplog) The bearing to the next w.p. is 1.6 Degrees. : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 1985.963952) Behavior waypoint_yoyo:490755 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:490755 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,154621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154622.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.82 14.55 4.00 4.02 0 28655.71 02:14:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154623.00,,,,,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,154624.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 4.24 15.23 4.00 4.02 0 20233.11 02:14:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154626.00,,,,,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: $c1q0 d- 32.10 4.87 16.69 4.01 4.02 0 4139.38 02:14:57 m : AshtechGps::processRecord() - $GPGGA,154627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154629.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154630.00,,,,,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,154631.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154632.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.37 14.64 4.00 4.02 0 28655.43 02:15:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154633.00,,,,,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,154634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 4.45 15.33 4.00 4.02 0 20232.60 02:15:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 4.81 16.79 4.01 4.02 0 4139.03 02:15:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154637.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154638.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,154639.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154640.00,,,,,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,154641.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 5.23 14.64 4.00 4.02 0 28654.99 02:15:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154644.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.27 15.42 4.00 4.02 0 20232.28 02:15:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 4.60 16.69 4.01 4.02 0 4138.51 02:15:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154647.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154648.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154649.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154650.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154651.00,,,,,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,154652.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.02 4.08 14.74 4.00 4.02 0 28654.70 02:15:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154654.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.13 15.42 4.00 4.02 0 20231.81 02:15:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.81 16.79 4.01 4.02 0 4138.15 02:15:27 m : AshtechGps::processRecord() - $GPGGA,154657.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154658.00,,,,,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,154659.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154700.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154701.00,,,,,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,154702.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 4.00 14.74 4.00 4.02 0 28654.26 02:15:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154704.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.70 15.42 4.00 4.02 0 20231.51 02:15:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154705.00,,,,,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,154706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.06 4.84 16.79 4.01 4.02 0 4137.61 02:15:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154707.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154708.00,,,,,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,154709.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154710.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154711.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.12 14.74 4.00 4.02 0 28653.96 02:15:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154714.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.56 15.42 4.00 4.02 0 20231.03 02:15:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154715.00,,,,,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,154716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.67 16.69 4.01 4.02 0 4137.27 02:15:47 m : AshtechGps::processRecord() - $GPGGA,154717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154718.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154719.00,,,,,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,154720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154721.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.41 14.74 4.00 4.02 0 28653.52 02:15:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 4.27 15.42 4.00 4.02 0 20230.72 02:15:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154726.00,,,,,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: $c1q0 d- 31.99 5.15 16.79 4.01 4.02 0 4136.74 02:15:57 m : AshtechGps::processRecord() - $GPGGA,154727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154728.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.700501 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.223967 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.223967 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.223967 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.223967 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.223967 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.223967 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.223967 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.526412 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.526412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.526412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.526412 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.526412 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.526412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.526412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.211730 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 0.77 14.84 4.00 4.02 0 28653.21 02:16:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154733.00,,,,,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,154734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.30 1.32 15.42 4.00 4.02 0 20230.36 02:16:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154736.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 3.81 16.79 4.01 4.02 0 4136.52 02:16:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154737.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154738.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154739.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154740.00,,,,,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,154741.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154742.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.08 14.74 4.00 4.02 0 28652.92 02:16:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154743.00,,,,,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,154744.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 4.24 15.42 4.00 4.02 0 20230.09 02:16:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154746.00,,,,,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: $c1q0 d- 32.06 4.36 16.79 4.01 4.02 0 4136.07 02:16:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154750.00,,,,,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,154751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.75 14.74 4.00 4.02 0 28652.64 02:16:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.06 15.42 4.00 4.02 0 20229.65 02:16:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.22 16.79 4.01 4.02 0 4135.74 02:16:27 m : AshtechGps::processRecord() - $GPGGA,154757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154801.00,,,,,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,154802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.02 3.97 14.64 4.00 4.02 0 28652.22 02:16:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.55 15.33 4.00 4.02 0 20229.36 02:16:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.22 16.79 4.01 4.02 0 4135.28 02:16:37 m : AshtechGps::processRecord() - $GPGGA,154807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154808.00,,,,,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,154809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154811.00,,,,,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,154812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.02 3.67 14.64 4.00 4.02 0 28651.97 02:16:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 3.55 15.33 4.00 4.02 0 20228.93 02:16:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154815.00,,,,,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,154816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.22 16.79 4.01 4.02 0 4134.98 02:16:47 m : AshtechGps::processRecord() - $GPGGA,154817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154818.00,,,,,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,154819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.12 14.64 4.00 4.02 0 28651.58 02:16:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.73 15.33 4.00 4.02 0 20228.63 02:16:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154825.00,,,,,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,154826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 5.60 16.69 4.01 4.02 0 4134.51 02:16:57 m : AshtechGps::processRecord() - $GPGGA,154827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154829.00,,,,,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,154830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154831.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.08 14.64 4.00 4.02 0 28651.26 02:17:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 4.31 15.23 4.00 4.02 0 20228.19 02:17:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 4.60 16.69 4.01 4.02 0 4134.17 02:17:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154839.00,,,,,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,154840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 4.78 14.55 4.00 4.02 0 28650.82 02:17:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154843.00,,,,,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,154844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 4.38 15.33 4.00 4.02 0 20227.88 02:17:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154846.00,,,,,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: $c1q0 d- 32.06 4.64 16.69 4.01 4.02 0 4133.66 02:17:17 m : AshtechGps::processRecord() - $GPGGA,154847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,154848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154849.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154850.00,,,,,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,154851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.15 14.74 4.00 4.02 0 28650.52 02:17:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154853.00,,,,,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,154854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 4.13 15.33 3.99 4.01 0 20227.41 02:17:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 5.08 16.60 4.00 4.02 0 4133.33 02:17:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154900.00,,,,,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,154901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 2.82 14.74 4.00 4.02 0 28650.16 02:17:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 4.06 15.42 3.99 4.01 0 20227.18 02:17:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.77 16.60 4.00 4.02 0 4132.91 02:17:37 m : AshtechGps::processRecord() - $GPGGA,154907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,154908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154911.00,,,,,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,154912.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 3.89 14.74 4.00 4.02 0 28649.87 02:17:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.16 15.42 3.99 4.02 0 20226.74 02:17:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.74 16.69 4.01 4.02 0 4132.56 02:17:47 m : AshtechGps::processRecord() - $GPGGA,154917.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154918.00,,,,,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,154919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,154922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 4.30 14.74 4.00 4.02 0 28649.41 02:17:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.31 15.42 3.99 4.02 0 20226.44 02:17:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154925.00,,,,,0,00,,,M,,M,,*46 : 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,154926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.03 4.87 16.79 4.01 4.02 0 4132.07 02:17:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154927.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154928.00,,,,,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,154929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.26 14.74 4.00 4.02 0 28649.12 02:18:03 m : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.759785 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.015060 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.015060 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 4.60 15.42 3.99 4.02 0 20225.98 02:18:05 m : DepthEnvelope -- Measured altitude 12.015060 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.015060 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.015060 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.015060 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.015060 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.780731 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.780731 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.780731 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.780731 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.780731 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.780731 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 32.10 2.57 16.79 4.00 4.02 0 4131.73 02:18:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.780731 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,154938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.619358 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.374913 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154939.00,,,,,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,154940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.13 1.22 14.74 4.00 4.02 0 28648.92 02:18:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 3.08 15.42 3.99 4.02 0 20225.89 02:18:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154946.00,,,,,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: $c1q0 d- 32.06 4.32 16.79 4.00 4.02 0 4131.49 02:18:17 m : AshtechGps::processRecord() - $GPGGA,154947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,154948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154949.00,,,,,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,154950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.04 14.64 4.00 4.02 0 28648.68 02:18:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,154953.00,,,,,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,154954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 32.18 4.24 15.42 3.99 4.02 0 20225.48 02:18:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.67 16.79 4.01 4.02 0 4131.16 02:18:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,154959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155000.00,,,,,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,155001.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155002.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.75 14.74 4.00 4.02 0 28648.26 02:18:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155003.00,,,,,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,155004.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 4.13 15.42 3.99 4.02 0 20225.19 02:18:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155006.00,,,,,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: $c1q0 d- 32.06 4.43 16.69 4.01 4.02 0 4130.68 02:18:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155007.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,155008.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155009.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155010.00,,,,,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,155011.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155012.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.67 14.64 4.00 4.02 0 28648.01 02:18:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155013.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155014.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 5.32 15.33 4.00 4.02 0 20224.77 02:18:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.19 16.79 4.01 4.02 0 4130.37 02:18:47 m : AshtechGps::processRecord() - $GPGGA,155017.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,155018.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155019.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155020.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155021.00,,,,,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,155022.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 3.56 14.55 4.00 4.02 0 28647.63 02:18:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155024.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.80 15.33 4.00 4.02 0 20224.49 02:18:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.39 16.69 4.01 4.02 0 4129.91 02:18:57 m : AshtechGps::processRecord() - $GPGGA,155027.00,,,,,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 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155028.00,,,,,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,155029.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155030.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155031.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155032.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 3.52 14.64 4.00 4.02 0 28647.35 02:19:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155034.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.52 15.23 3.99 4.01 0 20224.09 02:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155035.00,,,,,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,155036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.06 4.43 16.69 4.00 4.02 0 4129.61 02:19:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155037.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155038.00,,,,,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,155039.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155041.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155042.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.93 14.55 4.00 4.02 0 28646.96 02:19:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155044.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.38 15.23 3.99 4.01 0 20223.80 02:19:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155045.00,,,,,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,155046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.84 16.69 4.00 4.02 0 4129.12 02:19:17 m : AshtechGps::processRecord() - $GPGGA,155047.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155048.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155049.00,,,,,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,155050.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155051.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155052.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.85 14.55 4.00 4.01 0 28646.67 02:19:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155054.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 4.27 15.33 3.99 4.01 0 20223.34 02:19:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155055.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155056.00,,,,,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: $c1q0 d- 31.99 4.87 16.60 4.00 4.01 0 4128.78 02:19:27 m : AshtechGps::processRecord() - $GPGGA,155057.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155058.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155059.00,,,,,0,00,,,M,,M,,*45 : 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,155100.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155101.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155102.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 4.15 14.64 4.00 4.01 0 28646.24 02:19:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155103.00,,,,,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,155104.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 4.45 15.33 3.99 4.01 0 20222.98 02:19:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155106.00,,,,,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: $c1q0 d- 32.03 4.91 16.69 4.00 4.01 0 4128.27 02:19:37 m : AshtechGps::processRecord() - $GPGGA,155107.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155108.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155109.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155110.00,,,,,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,155111.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155112.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.89 14.55 4.00 4.02 0 28645.96 02:19:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155113.00,,,,,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,155114.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 4.09 15.33 3.99 4.01 0 20222.51 02:19:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155116.00,,,,,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: $c1q0 d- 32.06 4.60 16.69 4.00 4.01 0 4127.93 02:19:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155117.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155118.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155119.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155120.00,,,,,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,155121.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155122.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.93 14.64 4.00 4.02 0 28645.51 02:19:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155123.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155124.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.95 15.33 3.99 4.01 0 20222.22 02:19:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155125.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.64 16.69 4.00 4.01 0 4127.44 02:19:57 m : AshtechGps::processRecord() - $GPGGA,155127.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155128.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155129.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155130.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155131.00,,,,,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,155132.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 3.89 14.64 4.00 4.01 0 28645.23 02:20:03 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.613419 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.613419 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.613419 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.613419 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.613419 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155134.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.613419 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.613419 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 3.84 15.42 3.99 4.01 0 20221.77 02:20:05 m : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.724564 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.976295 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.976295 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.976295 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.976295 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.17 1.71 16.69 4.00 4.01 0 4127.11 02:20:07 m : DepthEnvelope -- Measured altitude 13.976295 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155137.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.976295 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.976295 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.727151 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155138.00,,,,,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,155139.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155140.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155141.00,,,,,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,155142.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 32.06 2.15 14.64 4.00 4.01 0 28645.02 02:20:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155144.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 3.41 15.42 3.99 4.01 0 20221.69 02:20:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155145.00,,,,,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,155146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.32 16.69 4.00 4.01 0 4126.85 02:20:17 m : AshtechGps::processRecord() - $GPGGA,155147.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155148.00,,,,,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,155149.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155151.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155152.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.71 14.64 4.00 4.02 0 28644.75 02:20:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155154.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.31 15.33 3.99 4.01 0 20221.24 02:20:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155155.00,,,,,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,155156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.06 4.57 16.69 4.00 4.01 0 4126.51 02:20:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155157.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155158.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155159.00,,,,,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,155200.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155201.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155202.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.63 14.64 4.00 4.02 0 28644.32 02:20:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155204.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 3.88 15.33 3.99 4.01 0 20220.96 02:20:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155205.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155206.00,,,,,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: $c1q0 d- 32.03 4.36 16.79 4.00 4.01 0 4126.05 02:20:37 m : AshtechGps::processRecord() - $GPGGA,155207.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155208.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155209.00,,,,,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,155210.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155211.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155212.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.26 14.55 4.00 4.02 0 28644.05 02:20:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155213.00,,,,,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,155214.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 3.77 15.23 3.99 4.02 0 20220.55 02:20:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.08 16.79 4.01 4.02 0 4125.74 02:20:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155217.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155218.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155219.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155220.00,,,,,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,155221.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155222.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.63 14.55 4.00 4.02 0 28643.69 02:20:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155223.00,,,,,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,155224.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 3.80 15.23 3.99 4.02 0 20220.24 02:20:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155226.00,,,,,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: $c1q0 d- 32.03 4.53 16.69 4.01 4.02 0 4125.27 02:20:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155227.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : AshtechGps::processRecord() - $GPGGA,155228.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155229.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155230.00,,,,,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,155231.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155232.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 3.52 14.55 4.00 4.02 0 28643.43 02:21:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155233.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155234.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.09 15.23 3.99 4.02 0 20219.82 02:21:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155235.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155236.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.77 16.60 4.01 4.02 0 4124.94 02:21:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155237.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,155238.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155239.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155240.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155241.00,,,,,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,155242.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 3.93 14.45 4.00 4.02 0 28643.00 02:21:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155243.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155244.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.31 15.13 3.99 4.02 0 20219.51 02:21:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155245.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155246.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.70 16.60 4.01 4.02 0 4124.43 02:21:17 m : AshtechGps::processRecord() - $GPGGA,155247.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 4.000000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155248.00,,,,,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,155249.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155250.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155251.00,,,,,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,155252.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 3.78 14.55 3.99 4.01 0 28642.71 02:21:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155253.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155254.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 5.60 15.23 3.99 4.01 0 20219.00 02:21:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155255.00,,,,,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,155256.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 4.77 16.60 4.00 4.01 0 4124.10 02:21:27 m : AshtechGps::processRecord() - $GPGGA,155257.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155258.00,,,,,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,155259.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155300.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155301.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155302.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.85 14.55 3.99 4.01 0 28642.31 02:21:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155303.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155304.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.20 15.23 3.99 4.01 0 20218.70 02:21:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155305.00,,,,,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,155306.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.84 16.60 4.00 4.01 0 4123.58 02:21:37 m : AshtechGps::processRecord() - $GPGGA,155307.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155308.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155309.00,,,,,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,155310.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155311.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155312.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.85 14.55 3.99 4.01 0 28642.03 02:21:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155313.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155314.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 4.13 15.23 3.99 4.01 0 20218.23 02:21:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155315.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155316.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.91 16.60 4.00 4.01 0 4123.26 02:21:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155317.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : resetting depth trajectory : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155318.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155319.00,,,,,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,155320.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155321.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155322.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.85 14.55 3.99 4.01 0 28641.62 02:21:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155323.00,,,,,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,155324.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 4.13 15.23 3.99 4.01 0 20217.94 02:21:55 m : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155325.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.804112 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.938144 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.938144 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 32.06 4.32 16.60 4.00 4.01 0 4122.78 02:21:57 m : DepthEnvelope -- Measured altitude 11.938144 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.938144 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155327.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.938144 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.938144 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.938144 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : DepthEnvelope -- Measured altitude 12.559448 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.559448 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155328.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.559448 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.559448 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.559448 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.559448 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.559448 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155329.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,155330.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.402880 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.935633 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155331.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155332.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 0.77 14.55 4.01 4.03 0 28641.47 02:22:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155333.00,,,,,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,155334.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.22 2.01 15.33 4.01 4.03 0 20217.72 02:22:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155336.00,,,,,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: $c1q0 d- 32.06 3.78 16.79 4.02 4.03 0 4122.69 02:22:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155337.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,155338.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155339.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155340.00,,,,,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,155341.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155342.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 4.04 14.55 4.01 4.03 0 28641.19 02:22:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155343.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155344.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 4.34 15.23 4.01 4.03 0 20217.45 02:22:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.64 16.69 4.02 4.03 0 4122.22 02:22:17 m : AshtechGps::processRecord() - $GPGGA,155347.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.010000, mean min cell voltage 4.013334 : AshtechGps::processRecord() - $GPGGA,155348.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155349.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155350.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155351.00,,,,,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,155352.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 3.78 14.45 3.99 4.01 0 28640.91 02:22:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155354.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.84 15.23 3.99 4.01 0 20216.98 02:22:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.19 16.69 4.00 4.01 0 4121.88 02:22:27 m : AshtechGps::processRecord() - $GPGGA,155357.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155358.00,,,,,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,155359.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155400.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155401.00,,,,,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,155402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 3.52 14.55 3.99 4.01 0 28640.49 02:22:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155404.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.91 15.23 3.99 4.01 0 20216.71 02:22:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155405.00,,,,,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,155406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.39 16.60 4.00 4.01 0 4121.43 02:22:37 m : AshtechGps::processRecord() - $GPGGA,155407.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155408.00,,,,,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,155409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155411.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 4.97 14.55 4.00 4.01 0 28640.23 02:22:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155413.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155414.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.95 15.13 3.99 4.01 0 20216.28 02:22:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,155416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 5.53 16.60 4.00 4.01 0 4121.12 02:22:47 m : AshtechGps::processRecord() - $GPGGA,155417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155418.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155419.00,,,,,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,155420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155421.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.52 14.45 4.00 4.01 0 28639.85 02:22:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 3.73 15.13 3.99 4.01 0 20216.02 02:22:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.46 16.60 4.00 4.01 0 4120.63 02:22:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.996667 : AshtechGps::processRecord() - $GPGGA,155428.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155429.00,,,,,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,155430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155431.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155432.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.93 14.45 3.99 4.01 0 28639.59 02:23:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155433.00,,,,,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,155434.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 4.20 15.13 3.99 4.01 0 20215.56 02:23:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155436.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 4.91 16.50 4.00 4.01 0 4120.28 02:23:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155437.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155438.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155439.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155440.00,,,,,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,155441.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155442.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.97 14.45 3.99 4.01 0 28639.16 02:23:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155443.00,,,,,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,155444.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 4.34 15.23 3.99 4.01 0 20215.25 02:23:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155445.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155446.00,,,,,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: $c1q0 d- 31.99 4.91 16.60 4.00 4.01 0 4119.77 02:23:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155447.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155448.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155449.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155450.00,,,,,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,155451.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155452.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 4.26 14.55 3.99 4.01 0 28638.86 02:23:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155454.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.38 15.23 3.99 4.01 0 20214.79 02:23:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 5.12 16.50 4.00 4.01 0 4119.43 02:23:27 m : AshtechGps::processRecord() - $GPGGA,155457.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155458.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155459.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155500.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155501.00,,,,,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,155502.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 4.12 14.45 3.99 4.01 0 28638.43 02:23:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155504.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.24 15.23 3.99 4.01 0 20214.46 02:23:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.99 4.91 16.60 4.00 4.01 0 4118.93 02:23:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155507.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155508.00,,,,,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,155509.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155510.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155511.00,,,,,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,155512.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 4.12 14.45 3.99 4.01 0 28638.15 02:23:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155514.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.24 15.23 3.99 4.01 0 20214.00 02:23:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155515.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.249798 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.249798 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.249798 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.249798 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.249798 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.249798 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.249798 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.57 16.60 4.00 4.01 0 4118.60 02:23:47 m : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155517.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : DepthEnvelope -- Measured altitude 12.519808 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155518.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.230810 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.230810 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.230810 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.230810 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.230810 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155519.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.230810 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.230810 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.986977 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155520.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155521.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155522.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.10 0.74 14.55 3.99 4.01 0 28637.85 02:23:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155524.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 2.30 15.23 3.99 4.01 0 20213.82 02:23:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155525.00,,,,,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,155526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.08 16.60 4.00 4.01 0 4118.28 02:23:57 m : AshtechGps::processRecord() - $GPGGA,155527.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155528.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155529.00,,,,,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,155530.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155531.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155532.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.93 14.55 3.99 4.01 0 28637.60 02:24:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155534.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 4.27 15.13 3.99 4.01 0 20213.42 02:24:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.64 16.60 4.00 4.01 0 4117.95 02:24:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155537.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155538.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.822813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 24.682660 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155539.00,,,,,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,155540.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155541.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155542.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 1.29 14.45 3.99 4.01 0 28637.30 02:24:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155543.00,,,,,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,155544.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 2.94 15.23 3.99 4.01 0 20213.24 02:24:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155546.00,,,,,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: $c1q0 d- 32.03 4.22 16.60 4.00 4.01 0 4117.57 02:24:17 m : AshtechGps::processRecord() - $GPGGA,155547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155549.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155550.00,,,,,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,155551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155552.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 3.75 14.45 3.99 4.01 0 28637.07 02:24:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155553.00,,,,,0,00,,,M,,M,,*4A : 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,155554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 4.06 15.13 3.99 4.01 0 20212.85 02:24:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.43 16.60 4.00 4.01 0 4117.24 02:24:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155559.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155600.00,,,,,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,155601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.82 14.45 3.99 4.01 0 28636.67 02:24:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 3.84 15.13 3.99 4.01 0 20212.58 02:24:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 4.43 16.60 4.00 4.01 0 4116.79 02:24:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155607.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155608.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155609.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155610.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155611.00,,,,,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,155612.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 3.41 14.45 3.99 4.01 0 28636.42 02:24:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155614.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.09 15.03 3.99 4.01 0 20212.13 02:24:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.99 5.42 16.50 4.00 4.01 0 4116.50 02:24:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155617.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155618.00,,,,,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,155619.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155621.00,,,,,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,155622.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 4.26 14.45 3.99 4.01 0 28636.01 02:24:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155624.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.34 15.03 3.99 4.01 0 20211.81 02:24:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155625.00,,,,,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,155626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.03 5.01 16.50 4.00 4.01 0 4115.99 02:24:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155627.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155628.00,,,,,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,155629.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155631.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155632.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.19 14.35 3.99 4.01 0 28635.68 02:25:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155634.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.16 15.13 3.98 4.01 0 20211.36 02:25:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155635.00,,,,,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,155636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.67 16.50 4.00 4.01 0 4115.66 02:25:07 m : AshtechGps::processRecord() - $GPGGA,155637.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155638.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155639.00,,,,,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,155640.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155641.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155642.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.71 14.35 3.99 4.01 0 28635.28 02:25:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155644.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 4.16 15.13 3.98 4.01 0 20211.08 02:25:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155645.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.70 16.50 4.00 4.01 0 4115.18 02:25:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155647.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155648.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155649.00,,,,,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,155650.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155651.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155652.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 4.04 14.45 3.99 4.01 0 28635.00 02:25:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155653.00,,,,,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,155654.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.52 15.13 3.98 4.01 0 20210.62 02:25:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155656.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.03 4.60 16.50 4.00 4.01 0 4114.84 02:25:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155657.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155658.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,155659.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155700.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.578978 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155701.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.578978 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.578978 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.578978 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.578978 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.578978 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155702.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.578978 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.94 3.63 14.55 3.99 4.01 0 28634.59 02:25:33 m : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641550 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.393327 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155704.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.393327 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.393327 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.393327 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.22 1.14 15.23 3.98 4.01 0 20210.34 02:25:35 m : DepthEnvelope -- Measured altitude 13.393327 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.393327 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.393327 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.793004 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.793004 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.793004 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.793004 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155706.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.793004 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.793004 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.793004 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.326171 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.14 1.44 16.60 4.00 4.01 0 4114.47 02:25:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155707.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155708.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155709.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155710.00,,,,,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,155711.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155712.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 2.89 14.45 4.01 4.03 0 28634.54 02:25:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155713.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155714.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.88 15.13 4.00 4.03 0 20210.14 02:25:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 4.70 16.60 4.01 4.03 0 4114.29 02:25:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155717.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155718.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155719.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155720.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155721.00,,,,,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,155722.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 4.71 14.45 4.01 4.03 0 28634.14 02:25:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155724.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.20 15.13 4.00 4.03 0 20209.84 02:25:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.57 16.60 4.01 4.03 0 4113.78 02:25:57 m : AshtechGps::processRecord() - $GPGGA,155727.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.006667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155728.00,,,,,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,155729.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155730.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155731.00,,,,,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,155732.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 4.08 14.55 3.99 4.01 0 28633.86 02:26:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155734.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.84 15.13 3.98 4.01 0 20209.39 02:26:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155735.00,,,,,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,155736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.50 16.50 4.00 4.01 0 4113.46 02:26:07 m : AshtechGps::processRecord() - $GPGGA,155737.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155738.00,,,,,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,155739.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155741.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155742.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.59 14.45 3.99 4.01 0 28633.47 02:26:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155744.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.20 15.13 3.98 4.01 0 20209.12 02:26:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155745.00,,,,,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,155746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.99 4.57 16.50 4.00 4.01 0 4112.97 02:26:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155747.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155748.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155749.00,,,,,0,00,,,M,,M,,*43 : 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,155750.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155751.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155752.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.48 14.35 3.99 4.01 0 28633.21 02:26:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155754.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 3.77 15.03 3.98 4.01 0 20208.70 02:26:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155755.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155756.00,,,,,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: $c1q0 d- 31.99 4.32 16.50 4.00 4.01 0 4112.65 02:26:27 m : AshtechGps::processRecord() - $GPGGA,155757.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155758.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155759.00,,,,,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,155800.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155801.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155802.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.04 14.35 3.99 4.01 0 28632.81 02:26:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155803.00,,,,,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,155804.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.56 15.03 3.98 4.01 0 20208.42 02:26:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155806.00,,,,,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: $c1q0 d- 31.99 4.74 16.50 4.00 4.01 0 4112.17 02:26:37 m : AshtechGps::processRecord() - $GPGGA,155807.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155808.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155809.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155810.00,,,,,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,155811.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155812.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.19 14.45 3.99 4.01 0 28632.52 02:26:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155813.00,,,,,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,155814.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 4.56 15.03 3.98 4.01 0 20207.93 02:26:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155816.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 4.87 16.50 4.00 4.01 0 4111.82 02:26:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155817.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155818.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155819.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155820.00,,,,,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,155821.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155822.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.15 14.35 3.99 4.01 0 28632.10 02:26:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155823.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155824.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.31 15.13 3.98 4.01 0 20207.63 02:26:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 5.91 16.40 4.00 4.01 0 4111.32 02:26:57 m : AshtechGps::processRecord() - $GPGGA,155827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 3.93 14.45 3.99 4.01 0 28631.81 02:27:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 4.16 15.13 3.98 4.01 0 20207.16 02:27:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.99 4.50 16.50 4.00 4.01 0 4110.98 02:27:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,155837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.622849 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.622849 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.622849 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,155840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.622849 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.622849 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.622849 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.622849 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 16.556012 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,155841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 2.63 14.45 3.99 4.01 0 28631.39 02:27:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.22 1.36 15.13 3.98 4.01 0 20206.87 02:27:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155845.00,,,,,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,155846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 32.03 3.91 16.50 4.00 4.01 0 4110.58 02:27:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.00 14.35 3.99 4.01 0 28631.19 02:27:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.95 15.13 3.99 4.01 0 20206.53 02:27:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155855.00,,,,,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,155856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.50 16.60 4.00 4.01 0 4110.27 02:27:27 m : AshtechGps::processRecord() - $GPGGA,155857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.78 14.45 3.99 4.01 0 28630.78 02:27:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 3.91 15.13 3.99 4.01 0 20206.25 02:27:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.22 16.50 4.00 4.01 0 4109.80 02:27:37 m : AshtechGps::processRecord() - $GPGGA,155907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,155908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.97 14.45 3.99 4.01 0 28630.51 02:27:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155913.00,,,,,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,155914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.24 15.03 3.98 4.01 0 20205.75 02:27:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.29 16.50 4.00 4.01 0 4109.48 02:27:47 m : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,155917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 3.52 14.35 3.99 4.01 0 28630.11 02:27:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155923.00,,,,,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,155924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 3.84 15.03 3.98 4.01 0 20205.47 02:27:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 4.67 16.50 4.00 4.01 0 4109.01 02:27:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.12 14.45 3.99 4.01 0 28629.82 02:28:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.45 15.03 3.98 4.01 0 20205.02 02:28:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.53 16.40 4.00 4.01 0 4108.66 02:28:07 m : AshtechGps::processRecord() - $GPGGA,155937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 3.97 14.35 3.99 4.01 0 28629.37 02:28:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.24 15.03 3.98 4.01 0 20204.72 02:28:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.99 4.43 16.40 4.00 4.01 0 4108.17 02:28:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 4.00 14.35 3.99 4.01 0 28629.09 02:28:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.98 15.03 3.98 4.01 0 20204.28 02:28:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,155955.00,,,,,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,155956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.46 16.40 4.00 4.01 0 4107.85 02:28:27 m : AshtechGps::processRecord() - $GPGGA,155957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,155958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,155959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.89 14.45 3.99 4.01 0 28628.64 02:28:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.55 15.03 3.98 4.01 0 20203.98 02:28:35 m : DepthEnvelope -- Measured altitude 14.405244 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.405244 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.405244 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.405244 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.405244 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.405244 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.405244 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 4.60 16.40 4.00 4.01 0 4107.36 02:28:37 m : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.510885 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.460638 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : DepthEnvelope -- Measured altitude 14.460638 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.460638 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.460638 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.460638 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.460638 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.460638 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.793334 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.06 0.85 14.35 4.00 4.02 0 28628.46 02:28:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 2.76 15.13 4.00 4.02 0 20203.72 02:28:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,160015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 3.98 16.60 4.01 4.02 0 4107.21 02:28:47 m : AshtechGps::processRecord() - $GPGGA,160017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,160018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.04 14.45 4.00 4.02 0 28628.13 02:28:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160023.00,,,,,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,160024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.42 15.13 4.00 4.02 0 20203.43 02:28:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.81 16.50 4.01 4.02 0 4106.71 02:28:57 m : AshtechGps::processRecord() - $GPGGA,160027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,160028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.04 14.45 3.99 4.01 0 28627.85 02:29:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160033.00,,,,,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,160034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.42 15.13 3.98 4.01 0 20202.97 02:29:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.201449 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.201449 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.201449 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.201449 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.201449 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.95 5.67 16.60 4.00 4.01 0 4106.38 02:29:07 m : DepthEnvelope -- Measured altitude 14.201449 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.201449 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 23.443470 over abort altitude 15.000000, starting prop! : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 2.18 14.45 3.99 4.01 0 28627.47 02:29:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.44 15.13 3.98 4.01 0 20202.74 02:29:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 4.67 16.50 4.00 4.01 0 4105.99 02:29:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 3.75 14.45 3.99 4.01 0 28627.22 02:29:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.98 15.03 3.98 4.01 0 20202.33 02:29:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.99 4.39 16.50 4.00 4.01 0 4105.67 02:29:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160101.00,,,,,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,160102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 3.56 14.35 3.99 4.01 0 28626.82 02:29:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.70 15.03 3.98 4.01 0 20202.05 02:29:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=0.03 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Waypoint has set the state to finished. : Waypoint (4078803.0, 600466.0), reached at t = 2870.99 (wplog) : Vehicle Position is error is (-0.3, 0.1) : LayeredControl::execute() -- (t = 2870.993324) Behavior waypoint_yoyo:490755 has changed to state Finished : LayeredControl - sending BehaviorFinished:490755 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,160106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : *** 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 : BluefinBatt Reply: $c1q0 d- 31.95 4.46 16.50 4.00 4.01 0 4105.18 02:29:37 m : AshtechGps::processRecord() - $GPGGA,160107.00,,,,,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 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,160108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160109.00,,,,,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,160110.00,,,,,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,160111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.04 14.35 3.98 4.01 0 28626.54 02:29:43 m : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 18 behaviors : Waypoint Initialization: Begin waypoint control at t= 2877.75 (wplog) The current location (N,E) = 4078813.4 , 600465.6 (wplog) The next waypoint = 4078792.2 , 599521.9 (wplog) The bearing to the next w.p. is 268.7 Degrees. : LayeredControl::execute() -- (t = 2877.752861) Behavior waypoint_yoyo:715470 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:715470 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.63 15.03 3.98 4.01 0 20201.58 02:29:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160115.00,,,,,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,160116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.67 16.40 4.00 4.01 0 4104.85 02:29:47 m : AshtechGps::processRecord() - $GPGGA,160117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,160118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.12 14.35 3.98 4.01 0 28626.11 02:29:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.24 15.03 3.98 4.01 0 20201.28 02:29:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.74 16.50 4.00 4.01 0 4104.35 02:29:57 m : AshtechGps::processRecord() - $GPGGA,160127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,160128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.12 14.35 3.98 4.01 0 28625.83 02:30:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160133.00,,,,,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,160134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.31 15.03 3.98 4.01 0 20200.80 02:30:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.64 16.50 4.00 4.01 0 4104.01 02:30:07 m : AshtechGps::processRecord() - $GPGGA,160137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,160138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.34 14.35 3.98 4.01 0 28625.40 02:30:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160143.00,,,,,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,160144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.42 15.03 3.98 4.01 0 20200.49 02:30:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.91 6.01 16.30 4.00 4.01 0 4103.50 02:30:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,160148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.00 14.35 3.98 4.01 0 28625.10 02:30:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.31 15.03 3.98 4.01 0 20200.02 02:30:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.91 4.74 16.40 4.00 4.01 0 4103.16 02:30:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : DepthEnvelope -- Measured altitude 14.674847 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : DepthEnvelope -- Measured altitude 14.674847 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.674847 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.674847 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.674847 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.674847 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.674847 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 20.715980 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 3.15 14.35 3.98 4.01 0 28624.66 02:30:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.95 15.03 3.98 4.01 0 20199.64 02:30:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.95 4.43 16.40 4.00 4.01 0 4102.66 02:30:37 m : DepthEnvelope -- Measured altitude 14.632041 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.632041 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.632041 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.632041 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.632041 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : DepthEnvelope -- Measured altitude 14.632041 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.632041 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.030570 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 2.41 14.45 3.99 4.01 0 28624.41 02:30:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.11 3.41 15.03 3.98 4.01 0 20199.24 02:30:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160215.00,,,,,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,160216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.99 4.19 16.50 4.00 4.01 0 4102.38 02:30:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 4.08 14.35 3.99 4.01 0 28624.04 02:30:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.34 15.03 3.98 4.01 0 20198.96 02:30:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160225.00,,,,,0,00,,,M,,M,,*4A : 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,160226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.91 16.50 4.00 4.01 0 4101.90 02:30:57 m : AshtechGps::processRecord() - $GPGGA,160227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,160228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.49 14.35 3.98 4.01 0 28623.74 02:31:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.56 15.03 3.98 4.00 0 20198.49 02:31:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 5.12 16.40 3.99 4.00 0 4101.55 02:31:07 m : AshtechGps::processRecord() - $GPGGA,160237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.75 14.35 3.98 4.01 0 28623.30 02:31:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160243.00,,,,,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,160244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 3.98 15.03 3.98 4.00 0 20198.14 02:31:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.05 16.40 3.99 4.00 0 4101.06 02:31:17 m : AshtechGps::processRecord() - $GPGGA,160247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.97 14.25 3.98 4.01 0 28623.05 02:31:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160253.00,,,,,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,160254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 4.34 15.03 3.98 4.01 0 20197.70 02:31:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.81 16.30 4.00 4.01 0 4100.73 02:31:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,160258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.15 14.25 3.98 4.01 0 28622.61 02:31:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 5.71 15.03 3.98 4.01 0 20197.40 02:31:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.77 16.40 4.00 4.01 0 4100.20 02:31:37 m : AshtechGps::processRecord() - $GPGGA,160307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,160308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 4.15 14.35 3.98 4.01 0 28622.31 02:31:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.31 15.03 3.98 4.00 0 20196.93 02:31:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.81 16.30 3.99 4.00 0 4099.87 02:31:47 m : AshtechGps::processRecord() - $GPGGA,160317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 4.26 14.35 3.98 4.01 0 28621.88 02:31:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.27 15.03 3.98 4.00 0 20196.63 02:31:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160325.00,,,,,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,160326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.95 4.87 16.40 3.99 4.00 0 4099.36 02:31:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.12 14.35 3.98 4.01 0 28621.57 02:32:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.56 15.03 3.98 4.00 0 20196.17 02:32:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.764434 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.764434 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.764434 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.764434 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.764434 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.764434 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.764434 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.355351 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.355351 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.355351 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 5.32 16.40 3.99 4.00 0 4099.02 02:32:07 m : DepthEnvelope -- Measured altitude 13.355351 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.355351 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.355351 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.355351 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.452085 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.208608 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 0.70 14.35 3.98 4.01 0 28621.24 02:32:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 2.37 15.13 3.98 4.00 0 20195.98 02:32:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 3.95 16.50 3.99 4.00 0 4098.69 02:32:17 m : AshtechGps::processRecord() - $GPGGA,160347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.00 14.45 3.98 4.01 0 28621.02 02:32:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160353.00,,,,,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,160354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 5.35 15.03 3.98 4.01 0 20195.58 02:32:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 4.84 16.50 4.00 4.01 0 4098.36 02:32:27 m : AshtechGps::processRecord() - $GPGGA,160357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,160358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.04 14.45 3.98 4.01 0 28620.60 02:32:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.38 15.03 3.98 4.01 0 20195.27 02:32:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.95 4.87 16.50 4.00 4.01 0 4097.85 02:32:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.26 14.35 3.98 4.01 0 28620.30 02:32:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.38 15.03 3.97 4.00 0 20194.78 02:32:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.70 16.40 3.99 4.00 0 4097.48 02:32:47 m : AshtechGps::processRecord() - $GPGGA,160417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,160418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 4.37 14.35 3.98 4.01 0 28619.87 02:32:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.88 14.94 3.97 4.00 0 20194.51 02:32:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.84 16.40 3.99 4.00 0 4097.04 02:32:57 m : AshtechGps::processRecord() - $GPGGA,160427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 4.08 14.25 3.98 4.01 0 28619.62 02:33:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.42 15.03 3.98 4.00 0 20194.08 02:33:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,160436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.70 16.30 3.99 4.00 0 4096.71 02:33:07 m : AshtechGps::processRecord() - $GPGGA,160437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.08 14.35 3.98 4.01 0 28619.19 02:33:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.31 15.03 3.98 4.00 0 20193.71 02:33:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160445.00,,,,,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,160446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.67 16.30 3.99 4.00 0 4096.20 02:33:17 m : AshtechGps::processRecord() - $GPGGA,160447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.75 14.25 3.98 4.01 0 28618.91 02:33:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 3.98 15.03 3.98 4.00 0 20193.22 02:33:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 4.81 16.30 3.99 4.00 0 4095.86 02:33:27 m : AshtechGps::processRecord() - $GPGGA,160457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.08 14.35 3.98 4.01 0 28618.43 02:33:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160503.00,,,,,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,160504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 4.24 15.03 3.98 4.00 0 20192.90 02:33:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.43 16.30 3.99 4.00 0 4095.35 02:33:37 m : AshtechGps::processRecord() - $GPGGA,160507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.975067 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.975067 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.975067 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.975067 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.975067 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.975067 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.975067 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.943744 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.943744 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.943744 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.943744 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.87 3.56 14.35 3.98 4.01 0 28618.17 02:33:43 m : DepthEnvelope -- Measured altitude 12.943744 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.943744 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.943744 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.658257 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.18 1.00 15.03 3.98 4.01 0 20192.49 02:33:45 m : DepthEnvelope -- altitude 15.306196 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 32.06 1.33 16.40 4.00 4.01 0 4095.09 02:33:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 3.37 14.35 3.98 4.01 0 28617.96 02:33:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.27 15.03 3.98 4.01 0 20192.34 02:33:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.94 16.50 4.00 4.01 0 4094.74 02:33:57 m : AshtechGps::processRecord() - $GPGGA,160527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.986667 : AshtechGps::processRecord() - $GPGGA,160528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 4.08 14.35 3.98 4.00 0 28617.66 02:34:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.38 15.03 3.98 4.00 0 20191.88 02:34:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.91 4.64 16.40 3.99 4.00 0 4094.36 02:34:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160541.00,,,,,0,00,,,M,,M,,*4F : 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,160542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 4.00 14.35 3.98 4.00 0 28617.21 02:34:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.16 15.03 3.98 4.00 0 20191.58 02:34:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160545.00,,,,,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,160546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.91 4.43 16.30 3.99 4.00 0 4093.88 02:34:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160549.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.56 14.35 3.98 4.01 0 28616.93 02:34:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.88 15.03 3.98 4.00 0 20191.16 02:34:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160555.00,,,,,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,160556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.26 16.40 3.99 4.00 0 4093.57 02:34:27 m : AshtechGps::processRecord() - $GPGGA,160557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160600.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.71 14.35 3.98 4.01 0 28616.56 02:34:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 4.24 14.94 3.98 4.00 0 20190.87 02:34:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.84 6.04 16.30 3.99 4.00 0 4093.07 02:34:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.00 14.35 3.98 4.00 0 28616.27 02:34:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160613.00,,,,,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,160614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 4.56 15.03 3.98 4.00 0 20190.41 02:34:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.74 16.30 3.99 4.00 0 4092.73 02:34:47 m : AshtechGps::processRecord() - $GPGGA,160617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.93 14.35 3.98 4.00 0 28615.85 02:34:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160623.00,,,,,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,160624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 4.45 15.03 3.98 4.00 0 20190.09 02:34:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.84 16.30 3.99 4.00 0 4092.22 02:34:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160631.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.12 14.25 3.98 4.00 0 28615.56 02:35:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.49 15.03 3.98 4.00 0 20189.62 02:35:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.91 4.81 16.40 3.99 4.00 0 4091.88 02:35:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.83 4.04 14.25 3.98 4.00 0 28615.13 02:35:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.38 15.03 3.98 4.00 0 20189.30 02:35:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.87 16.40 3.99 4.00 0 4091.35 02:35:17 m : AshtechGps::processRecord() - $GPGGA,160647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 4.15 14.35 3.98 4.00 0 28614.83 02:35:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.34 15.03 3.97 4.00 0 20188.82 02:35:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160655.00,,,,,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,160656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.74 16.40 3.99 4.00 0 4091.00 02:35:27 m : AshtechGps::processRecord() - $GPGGA,160657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,160658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.93 14.35 3.98 4.00 0 28614.40 02:35:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.38 15.03 3.97 4.00 0 20188.52 02:35:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : resetting depth trajectory : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 4.372875 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 5.05 16.40 3.99 4.00 0 4090.49 02:35:37 m : DepthEnvelope -- Measured altitude 3.593784 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 3.593784 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 3.593784 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 3.593784 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 3.593784 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : DepthEnvelope -- Measured altitude 3.593784 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 3.593784 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 2.826552 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 2.826552 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 2.826552 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 2.826552 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 2.826552 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 2.826552 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 1.983363 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 1.983363 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 1.983363 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 1.983363 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 1.983363 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 1.157971 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 0.70 14.35 3.99 4.01 0 28614.16 02:35:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.15 1.25 15.03 3.98 4.01 0 20188.21 02:35:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 1.40 16.40 4.00 4.01 0 4090.33 02:35:47 m : AshtechGps::processRecord() - $GPGGA,160717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,160718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160719.00,,,,,0,00,,,M,,M,,*40 : 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,160720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 1.22 14.35 3.99 4.01 0 28614.08 02:35:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160723.00,,,,,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,160724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 32.18 0.96 15.03 3.98 4.01 0 20188.13 02:35:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : BluefinBatt Reply: $c1q0 d- 32.03 1.61 16.50 4.00 4.01 0 4090.19 02:35:57 m : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.990000 : AshtechGps::processRecord() - $GPGGA,160728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 36.959226 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.98 0.85 14.35 4.00 4.02 0 28614.02 02:36:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160733.00,,,,,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,160734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.15 1.50 15.03 4.00 4.02 0 20188.02 02:36:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 1.47 16.40 4.01 4.02 0 4090.09 02:36:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : AshtechGps::processRecord() - $GPGGA,160738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.97 14.35 4.00 4.02 0 28613.92 02:36:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.18 1.25 15.03 4.00 4.02 0 20187.93 02:36:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 3.78 16.30 4.01 4.02 0 4089.90 02:36:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 3.82 14.25 3.98 4.01 0 28613.74 02:36:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.16 14.94 3.98 4.01 0 20187.58 02:36:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 1.40 16.40 3.99 4.00 0 4089.58 02:36:27 m : AshtechGps::processRecord() - $GPGGA,160757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 3.93 14.35 3.98 4.01 0 28613.45 02:36:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.06 14.94 3.98 4.01 0 20187.42 02:36:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.825365 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.825365 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.825365 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 7.825365 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.825365 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.825365 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 7.825365 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.88 4.87 16.30 3.99 4.00 0 4089.20 02:36:37 m : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.610381 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434281 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434281 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434281 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.434281 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.434281 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.434281 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.434281 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.568909 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.113390 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.113390 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.113390 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.113390 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.113390 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.113390 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 32.02 0.70 14.35 4.00 4.02 0 28613.29 02:36:43 m : DepthEnvelope -- Measured altitude 12.113390 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.186254 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.186254 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.186254 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.186254 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.186254 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.186254 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.186254 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.15 1.43 14.94 4.00 4.02 0 20187.18 02:36:45 m : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.715348 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.206860 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.206860 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.206860 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.206860 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.206860 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 32.10 1.47 16.30 4.01 4.02 0 4089.10 02:36:47 m : DepthEnvelope -- Measured altitude 14.206860 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.206860 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.371116 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854189 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.854189 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.854189 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854189 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854189 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854189 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.854189 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.928814 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.928814 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.928814 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.928814 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.928814 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.928814 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.928814 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.060377 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 32.02 0.77 14.25 4.00 4.02 0 28613.21 02:36:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.18 1.07 14.84 4.00 4.02 0 20187.11 02:36:55 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.99 3.71 16.30 4.01 4.02 0 4088.94 02:36:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 4.000000, mean min cell voltage 4.003334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.896321 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.896321 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.896321 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.83 4.00 14.25 3.98 4.01 0 28613.02 02:37:03 m : DepthEnvelope -- Measured altitude 14.896321 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.896321 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.896321 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.896321 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.174056 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.174056 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.174056 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.174056 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.174056 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.174056 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.174056 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.03 4.24 14.84 3.98 4.01 0 20186.77 02:37:05 m : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.817597 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.184659 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.184659 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.184659 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.06 1.33 16.30 3.99 4.01 0 4088.61 02:37:07 m : DepthEnvelope -- Measured altitude 14.184659 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,160837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.184659 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.184659 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.184659 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.243966 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160840.00,,,,,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,160841.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.94 1.96 14.25 3.98 4.01 0 28612.81 02:37:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160843.00,,,,,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,160844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 3.62 14.94 3.98 4.01 0 20186.69 02:37:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.95 4.50 16.40 3.99 4.01 0 4088.35 02:37:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160848.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160850.00,,,,,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,160851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.15 14.25 3.98 4.01 0 28612.54 02:37:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.49 14.84 3.98 4.00 0 20186.24 02:37:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.67 16.30 3.99 4.00 0 4088.01 02:37:27 m : AshtechGps::processRecord() - $GPGGA,160857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160858.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160901.00,,,,,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,160902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 3.56 14.16 3.98 4.01 0 28612.14 02:37:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 3.80 14.84 3.98 4.00 0 20185.95 02:37:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.95 4.36 16.30 3.99 4.00 0 4087.53 02:37:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160908.00,,,,,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,160909.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160911.00,,,,,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,160912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 3.41 14.16 3.98 4.01 0 28611.85 02:37:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 4.02 14.84 3.98 4.00 0 20185.53 02:37:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160915.00,,,,,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,160916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.91 4.39 16.30 3.99 4.00 0 4087.23 02:37:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160918.00,,,,,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,160919.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.44 14.25 3.98 4.01 0 28611.47 02:37:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160923.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.77 14.84 3.98 4.00 0 20185.26 02:37:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160925.00,,,,,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,160926.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.50 16.30 3.99 4.00 0 4086.77 02:37:57 m : AshtechGps::processRecord() - $GPGGA,160927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,160928.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,160930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.82 14.16 3.98 4.00 0 28611.20 02:38:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 4.16 14.84 3.97 4.00 0 20184.81 02:38:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160936.00,,,,,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: $c1q0 d- 31.91 4.91 16.30 3.99 4.00 0 4086.44 02:38:07 m : AshtechGps::processRecord() - $GPGGA,160937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,160938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160939.00,,,,,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,160940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 4.00 14.16 3.98 4.00 0 28610.76 02:38:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160943.00,,,,,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,160944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.00 4.81 14.84 3.97 4.00 0 20184.50 02:38:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160946.00,,,,,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: $c1q0 d- 31.88 4.91 16.21 3.99 4.00 0 4085.87 02:38:17 m : AshtechGps::processRecord() - $GPGGA,160947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,160948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160949.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160950.00,,,,,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,160951.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.82 14.16 3.98 4.00 0 28610.47 02:38:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160953.00,,,,,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,160954.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 4.27 14.84 3.97 4.00 0 20184.04 02:38:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 4.70 16.21 3.99 4.00 0 4085.53 02:38:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,160957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160958.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,160959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161000.00,,,,,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,161001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.78 14.25 3.98 4.00 0 28610.05 02:38:33 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.16 14.94 3.97 4.00 0 20183.74 02:38:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.95 4.53 16.21 3.99 4.00 0 4085.04 02:38:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161011.00,,,,,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,161012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 3.75 14.25 3.98 4.00 0 28609.78 02:38:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.09 14.94 3.98 4.00 0 20183.29 02:38:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.57 16.30 3.99 4.00 0 4084.71 02:38:47 m : AshtechGps::processRecord() - $GPGGA,161017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.365147 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : DepthEnvelope -- Measured altitude 14.365147 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.365147 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.365147 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.365147 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.365147 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.365147 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.079829 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.079829 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.079829 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.079829 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.079829 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.079829 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.079829 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.223442 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.984677 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.98 0.70 14.25 3.98 4.00 0 28609.45 02:38:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.15 0.96 14.94 3.98 4.00 0 20183.07 02:38:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161025.00,,,,,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,161026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 2.81 16.30 3.99 4.00 0 4084.39 02:38:57 m : AshtechGps::processRecord() - $GPGGA,161027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,161028.00,,,,,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,161029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.82 14.25 3.98 4.01 0 28609.29 02:39:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 4.16 14.94 3.98 4.00 0 20182.75 02:39:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.95 4.50 16.30 3.99 4.00 0 4084.08 02:39:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,161038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161039.00,,,,,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,161040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.75 14.25 3.98 4.01 0 28608.85 02:39:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 3.84 14.94 3.98 4.00 0 20182.45 02:39:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.95 4.15 16.30 3.99 4.00 0 4083.60 02:39:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161049.00,,,,,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,161050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.67 14.25 3.98 4.00 0 28608.59 02:39:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161053.00,,,,,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,161054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 3.91 14.84 3.98 4.00 0 20182.03 02:39:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161056.00,,,,,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: $c1q0 d- 31.91 4.29 16.30 3.99 4.00 0 4083.28 02:39:27 m : AshtechGps::processRecord() - $GPGGA,161057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,161058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161100.00,,,,,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,161101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 3.71 14.16 3.98 4.00 0 28608.22 02:39:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161103.00,,,,,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,161104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 3.77 14.84 3.98 4.00 0 20181.75 02:39:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 4.81 16.21 3.99 4.00 0 4082.83 02:39:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,161108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161110.00,,,,,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,161111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.19 14.16 3.98 4.00 0 28607.92 02:39:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.34 14.84 3.97 4.00 0 20181.32 02:39:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 4.60 16.21 3.99 4.00 0 4082.49 02:39:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161121.00,,,,,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,161122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.83 3.97 14.16 3.98 4.00 0 28607.48 02:39:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.13 14.84 3.97 4.00 0 20181.00 02:39:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.88 4.74 16.21 3.99 4.00 0 4081.98 02:39:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161128.00,,,,,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,161129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161131.00,,,,,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,161132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 3.85 14.16 3.98 4.00 0 28607.19 02:40:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.31 14.84 3.97 4.00 0 20180.53 02:40:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161135.00,,,,,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,161136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.88 4.74 16.21 3.98 4.00 0 4081.63 02:40:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.976667 : AshtechGps::processRecord() - $GPGGA,161138.00,,,,,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,161139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.19 14.25 3.98 4.00 0 28606.75 02:40:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.27 14.94 3.97 4.00 0 20180.22 02:40:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161145.00,,,,,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,161146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.70 16.21 3.98 4.00 0 4081.11 02:40:17 m : AshtechGps::processRecord() - $GPGGA,161147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.976667 : AshtechGps::processRecord() - $GPGGA,161148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.97 14.25 3.98 4.00 0 28606.47 02:40:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 4.49 14.94 3.97 4.00 0 20179.75 02:40:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,161155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.94 16.21 3.99 4.00 0 4080.77 02:40:27 m : AshtechGps::processRecord() - $GPGGA,161157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,161158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.106259 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.106259 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.83 4.30 14.16 3.98 4.00 0 28606.00 02:40:33 m : DepthEnvelope -- Measured altitude 14.106259 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.106259 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.106259 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.106259 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.106259 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086988 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086988 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.086988 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.086988 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086988 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.086988 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.96 4.81 14.94 3.97 4.00 0 20179.43 02:40:35 m : DepthEnvelope -- Measured altitude 13.086988 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.423828 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.994109 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $c1q0 d- 32.03 1.82 16.30 3.99 4.00 0 4080.25 02:40:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 2.92 14.25 3.99 4.01 0 28605.82 02:40:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161213.00,,,,,0,00,,,M,,M,,*4E : 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,161214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 3.80 14.94 3.99 4.01 0 20179.11 02:40:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 4.50 16.30 4.00 4.01 0 4080.05 02:40:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,161218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.00 14.25 3.99 4.01 0 28605.43 02:40:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.06 14.84 3.99 4.01 0 20178.81 02:40:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.91 4.26 16.30 4.00 4.01 0 4079.57 02:40:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.87 3.52 14.16 3.98 4.00 0 28605.17 02:41:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 3.77 14.84 3.97 4.00 0 20178.37 02:41:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.91 4.12 16.30 3.99 4.00 0 4079.25 02:41:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.83 4.52 14.16 3.98 4.00 0 28604.78 02:41:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.06 14.84 3.97 4.00 0 20178.09 02:41:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,161246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.39 16.30 3.99 4.00 0 4078.78 02:41:17 m : AshtechGps::processRecord() - $GPGGA,161247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,161248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Waypoint has set the state to finished. : Waypoint (4078792.2, 599521.9), reached at t = 3576.99 (wplog) : Vehicle Position is error is (-0.3, 0.2) : LayeredControl::execute() -- (t = 3576.994959) Behavior waypoint_yoyo:715470 has changed to state Finished : LayeredControl - sending BehaviorFinished:715470 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : *** Stack empty after processing. Waiting on VCS... : BluefinBatt Reply: $aaq0 d- 31.83 4.00 14.16 3.98 4.00 0 28604.53 02:41:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,161254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.20 14.84 3.97 4.00 0 20177.67 02:41:25 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,161255.00,,,,,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,161256.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 31.84 4.67 16.21 3.99 4.00 0 4078.46 02:41:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 19 behaviors : Waypoint Initialization: Begin waypoint control at t= 3582.57 (wplog) The current location (N,E) = 4078792.2 , 599514.9 (wplog) The next waypoint = 4074909.2 , 599567.5 (wplog) The bearing to the next w.p. is 179.2 Degrees. : LayeredControl::execute() -- (t = 3582.574577) Behavior waypoint_yoyo:739971 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:739971 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.19 14.16 3.98 4.00 0 28604.08 02:41:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.00 4.13 14.84 3.97 4.00 0 20177.34 02:41:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.87 16.21 3.99 4.00 0 4077.94 02:41:37 m : AshtechGps::processRecord() - $GPGGA,161307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,161308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.08 14.16 3.97 4.00 0 28603.79 02:41:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161313.00,,,,,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,161314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.00 4.09 14.84 3.97 4.00 0 20176.86 02:41:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161316.00,,,,,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: $c1q0 d- 31.84 4.81 16.21 3.98 4.00 0 4077.60 02:41:47 m : AshtechGps::processRecord() - $GPGGA,161317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161320.00,,,,,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,161321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.04 14.16 3.97 4.00 0 28603.37 02:41:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161323.00,,,,,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,161324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.00 4.27 14.84 3.97 4.00 0 20176.56 02:41:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161326.00,,,,,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: $c1q0 d- 31.88 4.91 16.21 3.98 4.00 0 4077.06 02:41:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161330.00,,,,,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,161331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 4.12 14.16 3.97 4.00 0 28603.04 02:42:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.31 14.84 3.97 4.00 0 20176.11 02:42:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.91 16.21 3.98 4.00 0 4076.72 02:42:07 m : AshtechGps::processRecord() - $GPGGA,161337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161341.00,,,,,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,161342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 4.04 14.16 3.97 4.00 0 28602.59 02:42:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.38 14.84 3.97 4.00 0 20175.79 02:42:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.84 16.21 3.98 4.00 0 4076.22 02:42:17 m : AshtechGps::processRecord() - $GPGGA,161347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161348.00,,,,,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,161349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 4.04 14.16 3.97 4.00 0 28602.30 02:42:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.38 14.84 3.97 4.00 0 20175.31 02:42:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161355.00,,,,,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,161356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.84 4.77 16.21 3.98 4.00 0 4075.87 02:42:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161358.00,,,,,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,161359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.26 14.16 3.97 4.00 0 28601.86 02:42:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.38 14.84 3.97 4.00 0 20175.00 02:42:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161405.00,,,,,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,161406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.88 4.98 16.21 3.98 4.00 0 4075.33 02:42:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.885940 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.885940 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.885940 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.885940 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.885940 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.885940 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.885940 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.913244 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.913244 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.913244 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.913244 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.913244 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.913244 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.913244 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.91 1.22 14.25 3.97 4.00 0 28601.56 02:42:43 m : DepthEnvelope -- Measured altitude 13.909936 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.250307 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.11 1.11 14.84 3.97 4.00 0 20174.65 02:42:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 20 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 3660.969207) Behavior FireTheGulperAMC:762765 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:762765 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Gulper::fireGulper - cmd is $041Fff : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.99 2.60 16.30 3.98 4.00 0 4075.12 02:42:47 m : AshtechGps::processRecord() - $GPGGA,161417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : LayeredControl::execute() -- (t = 3662.599095) Behavior FireTheGulperAMC:762765 has changed to state Finished : LayeredControl - sending BehaviorFinished:762765 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 21 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 3665.158920) Behavior FireTheGulperAMC:762734 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:762734 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,161420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : Gulper::fireGulper - cmd is $051Fff : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : LayeredControl::execute() -- (t = 3666.798807) Behavior FireTheGulperAMC:762734 has changed to state Finished : LayeredControl - sending BehaviorFinished:762734 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.59 14.25 3.97 4.00 0 28601.33 02:42:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.00 4.09 14.84 3.97 4.00 0 20174.43 02:42:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.70 16.30 3.98 4.00 0 4074.71 02:42:57 m : AshtechGps::processRecord() - $GPGGA,161427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.863269 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.863269 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : DepthEnvelope -- Measured altitude 14.863269 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.863269 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.863269 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.863269 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.863269 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 25.592890 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,161429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 2.11 14.16 3.98 4.00 0 28601.06 02:43:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161433.00,,,,,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,161434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 3.19 14.84 3.97 4.00 0 20174.01 02:43:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.43 16.30 3.98 4.00 0 4074.44 02:43:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.976667 : AshtechGps::processRecord() - $GPGGA,161438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.56 14.16 3.98 4.00 0 28600.71 02:43:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.91 14.84 3.97 4.00 0 20173.73 02:43:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.36 16.21 3.98 4.00 0 4073.99 02:43:17 m : AshtechGps::processRecord() - $GPGGA,161447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.976667 : AshtechGps::processRecord() - $GPGGA,161448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.83 3.85 14.16 3.97 4.00 0 28600.45 02:43:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 32.00 3.70 14.74 3.97 4.00 0 20173.32 02:43:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.60 16.30 3.98 4.00 0 4073.67 02:43:27 m : AshtechGps::processRecord() - $GPGGA,161457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 4.12 14.16 3.97 4.00 0 28600.06 02:43:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.42 14.74 3.97 4.00 0 20173.02 02:43:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161505.00,,,,,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,161506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.94 16.11 3.98 4.00 0 4073.17 02:43:37 m : AshtechGps::processRecord() - $GPGGA,161507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.19 14.16 3.97 4.00 0 28599.74 02:43:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.31 14.74 3.97 4.00 0 20172.56 02:43:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161515.00,,,,,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,161516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.87 16.21 3.98 3.99 0 4072.83 02:43:47 m : AshtechGps::processRecord() - $GPGGA,161517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.89 14.16 3.97 4.00 0 28599.29 02:43:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 4.20 14.84 3.97 4.00 0 20172.26 02:43:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.70 16.21 3.98 3.99 0 4072.34 02:43:57 m : AshtechGps::processRecord() - $GPGGA,161527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161529.00,,,,,0,00,,,M,,M,,*40 : 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,161530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 3.85 14.06 3.97 4.00 0 28599.02 02:44:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161533.00,,,,,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,161534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 4.34 14.84 3.97 4.00 0 20171.81 02:44:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.67 16.21 3.98 4.00 0 4072.02 02:44:07 m : AshtechGps::processRecord() - $GPGGA,161537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 3744.593478) Behavior waypoint_yoyo:739971 has changed to state Finished : LayeredControl - sending BehaviorFinished:739971 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,161542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 22 behaviors : LayeredControl::execute() -- (t = 3747.373287) Behavior ascend:785783 has changed to state Active : LayeredControl - ascend BehaviorStarted:785783 msg to VcsServer : BluefinBatt Reply: $aaq0 d- 31.79 3.85 14.16 3.97 4.00 0 28598.60 02:44:13 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,161543.00,,,,,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,161544.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 32.00 4.13 14.84 3.97 4.00 0 20171.51 02:44:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,161546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 4.12 16.21 3.98 4.00 0 4071.46 02:44:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161548.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161549.00,,,,,0,00,,,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,161550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=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,161552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 2.37 14.16 3.98 4.01 0 28598.35 02:44:23 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,161553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 2.73 14.84 3.98 4.00 0 20171.16 02:44:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,161556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.91 3.19 16.21 3.99 4.00 0 4071.24 02:44:27 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,161557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161558.00,,,,,0,00,,,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,161559.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161602.00,,,,,0,00,,,M,,M,,*4A : 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- 31.87 2.59 14.16 3.98 4.01 0 28598.09 02:44:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161603.00,,,,,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,161604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 3.19 14.84 3.98 4.00 0 20170.95 02:44:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=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,161606.00,,,,,0,00,,,M,,M,,*4E : 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: $c1q0 d- 31.91 3.29 16.30 3.99 4.00 0 4070.90 02:44:37 m : AshtechGps::processRecord() - $GPGGA,161607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161609.00,,,,,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,161610.00,,,,,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,161611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.83 2.48 14.16 3.98 4.01 0 28597.91 02:44:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,161614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.03 2.76 14.84 3.98 4.00 0 20170.63 02:44:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161615.00,,,,,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,161616.00,,,,,0,00,,,M,,M,,*4F : 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: $c1q0 d- 31.95 3.12 16.21 3.99 4.00 0 4070.68 02:44:47 m : AshtechGps::processRecord() - $GPGGA,161617.00,,,,,0,00,,,M,,M,,*4E : 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 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,161618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161619.00,,,,,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,161620.00,,,,,0,00,,,M,,M,,*4A : 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,161621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 2.55 14.16 3.98 4.01 0 28597.66 02:44:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,161624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.09 14.84 3.98 4.00 0 20170.45 02:44:55 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,161625.00,,,,,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,161626.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 31.95 3.33 16.21 3.99 4.00 0 4070.33 02:44:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,161631.00,,,,,0,00,,,M,,M,,*4A : 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,161632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.91 2.37 14.16 3.98 4.01 0 28597.48 02:45:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,161634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 32.07 2.58 14.74 3.98 4.00 0 20170.16 02:45:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161636.00,,,,,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: $c1q0 d- 31.95 3.12 16.21 3.99 4.00 0 4070.12 02:45:07 m : AshtechGps::processRecord() - $GPGGA,161637.00,,,,,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 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,161638.00,,,,,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,161639.00,,,,,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,161640.00,,,,,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,161641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 3806.399244) Behavior ascend:785783 has changed to state Finished : LayeredControl - sending BehaviorFinished:785783 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,161642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.87 2.85 14.16 3.98 4.01 0 28597.22 02:45:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 23 behaviors : LayeredControl::execute() -- (t = 3808.569095) Behavior getgps:802246 has changed to state Active : LayeredControl - getgps BehaviorStarted:802246 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161644.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 32.03 2.83 14.74 3.98 4.00 0 20169.96 02:45:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161645.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161646.00,,,,,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: $c1q0 d- 31.95 2.47 16.21 3.99 4.00 0 4069.76 02:45:17 m : AshtechGps::processRecord() - $GPGGA,161647.00,,,,,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 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,161648.00,3650.84883,N,12153.01384,W,1,06,1.4,-1.59,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 1 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,161649.00,3650.84827,N,12153.01395,W,1,06,1.4,-1.55,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161650.00,3650.84802,N,12153.01385,W,1,07,1.3,-4.10,M,-32.59,M,,*7B : 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,161651.00,3650.84735,N,12153.01385,W,1,07,1.3,-1.60,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,161652.00,3650.84665,N,12153.01345,W,1,07,1.3,-1.06,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.94 0.74 14.16 3.99 4.01 0 28597.09 02:45:23 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,161653.00,3650.84605,N,12153.01352,W,1,07,1.3,-1.19,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161654.00,3650.84550,N,12153.01336,W,1,07,1.3,-1.04,M,-32.59,M,,*7D : 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 : BluefinBatt Reply: $c0q0 d- 32.11 1.00 14.74 3.99 4.01 0 20169.74 02:45:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161655.00,3650.84498,N,12153.01313,W,1,07,1.3,-1.12,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 8 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,161656.00,3650.84453,N,12153.01298,W,1,07,1.3,-1.72,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 9 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 1.51 16.21 4.00 4.01 0 4069.66 02:45:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161657.00,3650.84415,N,12153.01313,W,1,07,1.3,-1.99,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,161658.00,3650.84379,N,12153.01324,W,1,07,1.3,-1.72,M,-32.59,M,,*7E : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161659.00,3650.84340,N,12153.01320,W,1,07,1.3,-1.35,M,-32.59,M,,*72 : 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,161700.00,3650.84308,N,12153.01298,W,1,07,1.3,-1.01,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161701.00,3650.84277,N,12153.01279,W,1,07,1.3,-0.89,M,-32.59,M,,*70 : 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,161702.00,3650.84254,N,12153.01240,W,1,07,1.3,-1.32,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 15 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.94 0.74 14.06 3.99 4.01 0 28597.00 02:45:33 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,161703.00,3650.84218,N,12153.01224,W,1,07,1.3,-1.87,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 16 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161704.00,3650.84186,N,12153.01223,W,1,07,1.3,-2.39,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 17 of 30 needed : BluefinBatt Reply: $c0q0 d- 32.15 1.14 14.64 3.99 4.01 0 20169.67 02:45:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161705.00,3650.84154,N,12153.01233,W,1,07,1.3,-2.47,M,-32.59,M,,*78 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161706.00,3650.84134,N,12153.01206,W,1,07,1.3,-2.18,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : BluefinBatt Reply: $c1q0 d- 31.99 1.37 16.11 4.00 4.01 0 4069.51 02:45:37 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 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,161707.00,3650.84106,N,12153.01203,W,1,07,1.3,-2.29,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161708.00,3650.84092,N,12153.01189,W,1,07,1.3,-2.13,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 21 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,161709.00,3650.84055,N,12153.01200,W,1,07,1.3,-1.90,M,-32.59,M,,*7D : 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,161710.00,3650.84043,N,12153.01151,W,1,07,1.3,-1.64,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 23 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161711.00,3650.84003,N,12153.01142,W,1,07,1.3,-1.72,M,-32.59,M,,*7E : 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,161712.00,3650.83995,N,12153.01102,W,1,07,1.3,-1.66,M,-32.59,M,,*7D : 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- 31.94 0.74 14.06 3.99 4.01 0 28596.95 02:45:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161713.00,3650.83966,N,12153.01084,W,1,07,1.3,-1.77,M,-32.59,M,,*7F : 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,161714.00,3650.83957,N,12153.01065,W,1,07,1.3,-2.10,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : BluefinBatt Reply: $c0q0 d- 32.15 0.96 14.64 3.99 4.01 0 20169.57 02:45:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161715.00,3650.83952,N,12153.01054,W,1,07,1.3,-2.45,M,-32.59,M,,*71 : 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,161716.00,3650.83930,N,12153.01076,W,1,07,1.3,-2.55,M,-32.59,M,,*77 : 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 : BluefinBatt Reply: $c1q0 d- 32.03 1.47 16.11 4.00 4.01 0 4069.42 02:45:47 m : AshtechGps::processRecord() - $GPGGA,161717.00,3650.83930,N,12153.01066,W,1,07,1.3,-2.24,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 3842.196792) Behavior getgps:802246 has changed to state Finished : LayeredControl - sending BehaviorFinished:802246 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161718.00,3650.83899,N,12153.01067,W,1,07,1.3,-1.90,M,-32.59,M,,*71 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 24 behaviors : LayeredControl::execute() -- (t = 3843.756685) Behavior setpoint:811451 has changed to state Active : LayeredControl - setpoint BehaviorStarted:811451 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161719.00,3650.83907,N,12153.01016,W,1,07,1.3,-1.76,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,161720.00,3650.83873,N,12153.00992,W,1,07,1.3,-1.93,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,161721.00,3650.83869,N,12153.00964,W,1,07,1.3,-2.11,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161722.00,3650.83865,N,12153.00941,W,1,07,1.3,-2.11,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- 31.94 0.89 14.06 3.99 4.01 0 28596.81 02:45:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161723.00,3650.83845,N,12153.00941,W,1,08,1.2,-1.83,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,161724.00,3650.83846,N,12153.00945,W,1,08,1.2,-1.91,M,-32.59,M,,*7B : BluefinBatt Reply: $c0q0 d- 32.11 1.07 14.64 3.99 4.01 0 20169.49 02:45:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161725.00,3650.83833,N,12153.00943,W,1,08,1.2,-1.59,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161726.00,3650.83836,N,12153.00917,W,1,08,1.2,-1.55,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 : BluefinBatt Reply: $c1q0 d- 32.03 1.85 16.01 4.00 4.01 0 4069.22 02:45:57 m : AshtechGps::processRecord() - $GPGGA,161727.00,3650.83821,N,12153.00901,W,1,08,1.2,-1.93,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 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,161728.00,3650.83814,N,12153.00900,W,1,08,1.2,-1.94,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161729.00,3650.83815,N,12153.00883,W,1,08,1.2,-1.58,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,161730.00,3650.83805,N,12153.00836,W,1,08,1.2,-1.32,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,161731.00,3650.83811,N,12153.00786,W,1,08,1.2,-1.93,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161732.00,3650.83790,N,12153.00780,W,1,08,1.2,-2.39,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 31.94 0.81 13.96 3.99 4.01 0 28596.74 02:46:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161733.00,3650.83793,N,12153.00788,W,1,08,1.2,-2.17,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,161734.00,3650.83784,N,12153.00782,W,1,08,1.2,-2.19,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 32.15 0.96 14.64 3.99 4.01 0 20169.38 02:46:05 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,161735.00,3650.83787,N,12153.00779,W,1,08,1.2,-2.17,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161736.00,3650.83782,N,12153.00772,W,1,08,1.2,-1.74,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 : BluefinBatt Reply: $c1q0 d- 32.03 1.37 15.91 4.00 4.01 0 4069.12 02:46:07 m : AshtechGps::processRecord() - $GPGGA,161737.00,3650.83790,N,12153.00754,W,1,08,1.2,-1.81,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 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,161738.00,3650.83779,N,12153.00741,W,1,08,1.2,-1.67,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161739.00,3650.83783,N,12153.00731,W,1,08,1.2,-1.54,M,-32.59,M,,*75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161740.00,3650.83785,N,12153.00707,W,1,08,1.2,-1.50,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,161741.00,3650.83787,N,12153.00679,W,1,08,1.2,-1.54,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161742.00,3650.83781,N,12153.00656,W,1,08,1.2,-1.95,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 31.98 0.74 13.96 3.99 4.01 0 28596.66 02:46:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161743.00,3650.83780,N,12153.00660,W,1,08,1.2,-2.18,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : LayeredControl::execute() -- (t = 3868.794970) Behavior setpoint:811451 has changed to state Finished : LayeredControl - sending BehaviorFinished:811451 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,161744.00,3650.83778,N,12153.00665,W,1,08,1.2,-2.25,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- 32.15 1.07 14.64 3.99 4.01 0 20169.32 02:46:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161745.00,3650.83776,N,12153.00667,W,1,08,1.2,-2.18,M,-32.59,M,,*7D : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 25 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 3870.954822) Behavior setpoint:818788 has changed to state Active : LayeredControl - setpoint BehaviorStarted:818788 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161746.00,3650.83781,N,12153.00664,W,1,08,1.2,-1.82,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 32.03 1.44 16.01 4.00 4.01 0 4068.96 02:46:17 m : AshtechGps::processRecord() - $GPGGA,161747.00,3650.83786,N,12153.00655,W,1,08,1.2,-2.00,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : DynoLayeredControl::insert - inserting 1 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 26 behaviors : AshtechGps::processRecord() - $GPGGA,161748.00,3650.83795,N,12153.00654,W,1,08,1.2,-1.80,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161749.00,3650.83803,N,12153.00643,W,1,08,1.2,-1.66,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161750.00,3650.83804,N,12153.00618,W,1,08,1.2,-1.58,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 3875.994476) Behavior setpoint:818788 has changed to state Finished : LayeredControl - sending BehaviorFinished:818788 msg to VcsServer : LayeredControl::execute() -- (t = 3875.994476) Behavior descend:818746 has changed to state Active : LayeredControl - descend BehaviorStarted:818746 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,161751.00,3650.83808,N,12153.00580,W,1,08,1.2,-1.32,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161752.00,3650.83826,N,12153.00530,W,1,08,1.2,-1.59,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 31.79 4.52 13.96 3.99 4.01 0 28596.59 02:46:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161753.00,3650.83852,N,12153.00506,W,1,08,1.2,-2.19,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161754.00,3650.83876,N,12153.00503,W,1,08,1.2,-2.25,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.00 4.13 14.64 3.99 4.01 0 20169.07 02:46:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161755.00,3650.83905,N,12153.00499,W,1,08,1.2,-2.25,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161756.00,3650.83936,N,12153.00489,W,1,08,1.2,-2.14,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 3.50 16.01 4.00 4.01 0 4068.73 02:46:27 m : AshtechGps::processRecord() - $GPGGA,161757.00,3650.83962,N,12153.00458,W,1,08,1.2,-1.44,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,161758.00,3650.83992,N,12153.00398,W,1,08,1.2,-1.28,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161759.00,3650.84035,N,12153.00336,W,1,08,1.2,-1.40,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161800.00,3650.84070,N,12153.00272,W,1,08,1.2,-1.48,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161801.00,3650.84099,N,12153.00231,W,1,08,1.2,-2.14,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161802.00,3650.84126,N,12153.00203,W,1,08,1.2,-2.35,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 31.91 2.07 14.06 3.99 4.01 0 28596.28 02:46:33 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161803.00,3650.84158,N,12153.00178,W,1,08,1.2,-2.09,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161804.00,3650.84187,N,12153.00121,W,1,08,1.2,-1.61,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.00 3.80 14.64 3.99 4.01 0 20168.87 02:46:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161805.00,3650.84210,N,12153.00061,W,1,08,1.2,-0.88,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161806.00,3650.84221,N,12152.99983,W,1,08,1.2,-1.28,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 2.75 16.01 4.00 4.01 0 4068.38 02:46:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161807.00,3650.84234,N,12152.99957,W,1,08,1.2,-1.22,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.990000, mean min cell voltage 3.993333 : AshtechGps::processRecord() - $GPGGA,161808.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161809.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.83 3.75 13.96 3.98 4.00 0 28596.07 02:46:43 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.062222 > 2.000000 at time 3898.792914 : LayeredControl::execute() -- (t = 3898.792914) Behavior descend:818746 has changed to state Finished : LayeredControl - sending BehaviorFinished:818746 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.27 14.64 3.97 4.00 0 20168.48 02:46:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 27 behaviors : Waypoint Initialization: Begin waypoint control at t= 3901.16 (wplog) The current location (N,E) = 4078520.7 , 599565.2 (wplog) The next waypoint = 4074909.2 , 599567.5 (wplog) The bearing to the next w.p. is 180.0 Degrees. : LayeredControl::execute() -- (t = 3901.172751) Behavior waypoint_yoyo:827034 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:827034 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,161816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 4.53 16.01 3.99 4.00 0 4068.07 02:46:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 3.89 14.06 3.98 4.00 0 28595.65 02:46:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.42 14.74 3.97 4.00 0 20168.18 02:46:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 5.25 16.11 3.99 4.00 0 4067.57 02:46:57 m : AshtechGps::processRecord() - $GPGGA,161827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.94 0.81 14.16 3.98 4.00 0 28595.37 02:47:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 2.62 14.64 3.97 4.00 0 20167.84 02:47:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.88 4.60 16.01 3.98 4.00 0 4067.34 02:47:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.976667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.93 14.06 3.98 4.00 0 28595.01 02:47:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 4.38 14.74 3.97 4.00 0 20167.55 02:47:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,161845.00,,,,,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,161846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.88 4.70 16.11 3.98 4.00 0 4066.86 02:47:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.976667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.56 14.16 3.97 4.00 0 28594.73 02:47:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 4.31 14.74 3.96 3.99 0 20167.09 02:47:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.67 16.11 3.98 4.00 0 4066.51 02:47:27 m : AshtechGps::processRecord() - $GPGGA,161857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,161858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.34 14.06 3.97 4.00 0 28594.31 02:47:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161903.00,,,,,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,161904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 4.27 14.84 3.96 3.99 0 20166.79 02:47:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 5.15 16.11 3.98 4.00 0 4066.00 02:47:37 m : AshtechGps::processRecord() - $GPGGA,161907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,161908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.12 14.16 3.97 4.00 0 28593.98 02:47:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161913.00,,,,,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,161914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 4.31 14.84 3.97 4.00 0 20166.33 02:47:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.81 16.21 3.98 4.00 0 4065.66 02:47:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161917.00,,,,,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 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,161921.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.12 14.06 3.97 4.00 0 28593.52 02:47:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.60 14.74 3.97 4.00 0 20166.00 02:47:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161926.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 5.01 16.21 3.98 4.00 0 4065.15 02:47:57 m : AshtechGps::processRecord() - $GPGGA,161927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.274791 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.274791 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.274791 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.274791 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.274791 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.274791 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.274791 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,161930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.931442 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.898175 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.91 1.29 14.16 3.97 4.00 0 28593.22 02:48:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161933.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.07 1.29 14.84 3.96 3.99 0 20165.64 02:48:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.91 3.09 16.21 3.98 3.99 0 4064.91 02:48:07 m : AshtechGps::processRecord() - $GPGGA,161937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161939.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161940.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 3.93 14.16 3.97 4.00 0 28592.95 02:48:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.42 14.84 3.96 3.99 0 20165.39 02:48:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161945.00,,,,,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,161946.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.70 16.21 3.98 3.99 0 4064.44 02:48:17 m : AshtechGps::processRecord() - $GPGGA,161947.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,161948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161949.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.82 14.16 3.97 4.00 0 28592.67 02:48:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.02 14.84 3.97 4.00 0 20164.94 02:48:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,161955.00,,,,,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,161956.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.77 16.21 3.98 3.99 0 4064.12 02:48:27 m : AshtechGps::processRecord() - $GPGGA,161957.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,161958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,161959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162000.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162001.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162002.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.52 14.16 3.97 4.00 0 28592.28 02:48:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162003.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162004.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 3.80 14.74 3.97 4.00 0 20164.61 02:48:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162005.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162006.00,,,,,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: $c1q0 d- 31.84 4.19 16.30 3.98 3.99 0 4063.66 02:48:37 m : AshtechGps::processRecord() - $GPGGA,162007.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,162008.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162009.00,,,,,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,162010.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162011.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162012.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.67 14.16 3.97 4.00 0 28592.02 02:48:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162013.00,,,,,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,162014.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 3.73 14.74 3.97 4.00 0 20164.19 02:48:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162015.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162016.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 4.08 16.21 3.98 4.00 0 4063.35 02:48:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162017.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162018.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162019.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162020.00,,,,,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,162021.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162022.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.85 14.16 3.97 4.00 0 28591.63 02:48:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,162023.00,,,,,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,162024.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 4.31 14.74 3.97 4.00 0 20163.91 02:48:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162025.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162026.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.84 5.22 16.21 3.98 4.00 0 4062.82 02:48:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162027.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162028.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162029.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162030.00,,,,,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,162031.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162032.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.93 14.16 3.97 4.00 0 28591.33 02:49:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162033.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162034.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.34 14.74 3.96 3.99 0 20163.44 02:49:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162035.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162036.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.87 16.21 3.98 3.99 0 4062.48 02:49:07 m : AshtechGps::processRecord() - $GPGGA,162037.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162038.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162039.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162040.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162041.00,,,,,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,162042.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 4.26 14.16 3.97 4.00 0 28590.89 02:49:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162043.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162044.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 4.27 14.84 3.96 3.99 0 20163.09 02:49:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162045.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162046.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.91 16.21 3.98 3.99 0 4061.96 02:49:17 m : AshtechGps::processRecord() - $GPGGA,162047.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162048.00,,,,,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,162049.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162050.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162051.00,,,,,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,162052.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 3.93 14.16 3.97 4.00 0 28590.61 02:49:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162053.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162054.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.24 14.84 3.96 3.99 0 20162.62 02:49:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162055.00,,,,,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,162056.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.74 16.21 3.98 3.99 0 4061.62 02:49:27 m : AshtechGps::processRecord() - $GPGGA,162057.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162058.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162059.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162100.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162101.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162102.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.89 14.16 3.97 4.00 0 28590.15 02:49:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162103.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162104.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.34 14.84 3.96 3.99 0 20162.29 02:49:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162105.00,,,,,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,162106.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.91 16.21 3.98 3.99 0 4061.11 02:49:37 m : AshtechGps::processRecord() - $GPGGA,162107.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162108.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162109.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162110.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162111.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162112.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.97 14.25 3.97 4.00 0 28589.86 02:49:43 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162113.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162114.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.34 14.84 3.96 3.99 0 20161.82 02:49:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162115.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162116.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.84 4.77 16.21 3.98 3.99 0 4060.76 02:49:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162117.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162118.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162119.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.757664 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162120.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.757664 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.757664 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.757664 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.757664 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.757664 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162121.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.757664 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.725634 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.725634 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.725634 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.725634 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162122.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.725634 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.725634 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.79 3.71 14.25 3.97 4.00 0 28589.41 02:49:53 m : DepthEnvelope -- Measured altitude 12.725634 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162123.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162124.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.321867 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.300164 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.07 0.93 14.94 3.96 3.99 0 20161.52 02:49:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162125.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162126.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.95 1.40 16.30 3.98 3.99 0 4060.36 02:49:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162127.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162128.00,,,,,0,00,,,M,,M,,*46 : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162129.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162130.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162131.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162132.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.93 14.35 3.98 4.00 0 28589.29 02:50:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162133.00,,,,,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,162134.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.31 14.84 3.98 4.00 0 20161.24 02:50:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162135.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162136.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.81 16.30 3.99 4.00 0 4060.10 02:50:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162137.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : AshtechGps::processRecord() - $GPGGA,162138.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162139.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.717154 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.717154 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.717154 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.717154 under allowable altitude 15.000000. 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 : DepthEnvelope -- Measured altitude 14.717154 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162140.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.717154 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.717154 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 25.404179 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162141.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162142.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.83 2.26 14.25 3.98 4.00 0 28588.87 02:50:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162143.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162144.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 32.00 2.80 14.84 3.98 4.00 0 20160.94 02:50:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162145.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162146.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 3.71 16.30 3.99 4.00 0 4059.62 02:50:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162147.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.980000, mean min cell voltage 3.983333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162148.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162149.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162150.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162151.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162152.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 4.00 14.16 3.97 4.00 0 28588.64 02:50:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162153.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162154.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.20 14.84 3.97 4.00 0 20160.55 02:50:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162155.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162156.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.46 16.30 3.98 4.00 0 4059.28 02:50:27 m : AshtechGps::processRecord() - $GPGGA,162157.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162158.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162159.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162200.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,162201.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162202.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 3.67 14.16 3.97 4.00 0 28588.24 02:50:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162203.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162204.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.73 14.74 3.97 4.00 0 20160.26 02:50:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162205.00,,,,,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,162206.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.19 16.30 3.98 4.00 0 4058.82 02:50:37 m : AshtechGps::processRecord() - $GPGGA,162207.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,162208.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162209.00,,,,,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=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162210.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162211.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162212.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.44 14.16 3.97 4.00 0 28587.98 02:50:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162213.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162214.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.96 3.70 14.74 3.96 3.99 0 20159.86 02:50:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162215.00,,,,,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,162216.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.64 16.30 3.98 4.00 0 4058.51 02:50:47 m : AshtechGps::processRecord() - $GPGGA,162217.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162218.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162219.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162220.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162221.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162222.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 4.49 14.16 3.97 4.00 0 28587.58 02:50:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162223.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162224.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.45 14.74 3.96 3.99 0 20159.55 02:50:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162225.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162226.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.80 4.70 16.21 3.98 4.00 0 4057.99 02:50:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162227.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162228.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162229.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162230.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162231.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162232.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 4.12 14.16 3.97 3.99 0 28587.25 02:51:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162233.00,,,,,0,00,,,M,,M,,*4F : 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,162234.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.49 14.74 3.96 3.99 0 20159.08 02:51:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162235.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162236.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.87 16.21 3.98 3.99 0 4057.62 02:51:07 m : AshtechGps::processRecord() - $GPGGA,162237.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162238.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162239.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162240.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162241.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162242.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 4.04 14.16 3.97 3.99 0 28586.82 02:51:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162243.00,,,,,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,162244.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.34 14.84 3.96 3.99 0 20158.77 02:51:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162245.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162246.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.87 16.11 3.98 3.99 0 4057.11 02:51:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162247.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162248.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162249.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162250.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162251.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162252.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 4.23 14.16 3.96 3.99 0 28586.52 02:51:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162253.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162254.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.52 14.84 3.96 3.99 0 20158.29 02:51:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162255.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162256.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.91 16.21 3.98 3.99 0 4056.76 02:51:27 m : AshtechGps::processRecord() - $GPGGA,162257.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162258.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162259.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162300.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162301.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162302.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 4.12 14.06 3.96 3.99 0 28586.09 02:51:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162303.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162304.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.20 14.84 3.96 3.99 0 20157.98 02:51:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162305.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,162306.00,,,,,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=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 5.42 16.21 3.98 3.99 0 4056.26 02:51:37 m : AshtechGps::processRecord() - $GPGGA,162307.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162308.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162309.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162310.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162311.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162312.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 4.00 14.16 3.96 3.99 0 28585.81 02:51:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162313.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162314.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.88 14.84 3.96 3.99 0 20157.53 02:51:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162315.00,,,,,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,162316.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.64 16.21 3.98 3.99 0 4055.95 02:51:47 m : AshtechGps::processRecord() - $GPGGA,162317.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162318.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162319.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162320.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162321.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162322.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.71 14.16 3.96 3.99 0 28585.40 02:51:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162323.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162324.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.27 14.84 3.96 3.99 0 20157.25 02:51:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162325.00,,,,,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,162326.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.80 4.67 16.40 3.98 3.99 0 4055.45 02:51:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162327.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162328.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162329.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162330.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162331.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162332.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.71 14.16 3.97 4.00 0 28585.14 02:52:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162333.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162334.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 3.88 14.84 3.96 3.99 0 20156.83 02:52:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162335.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162336.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.84 4.32 16.30 3.98 3.99 0 4055.13 02:52:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162337.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162338.00,,,,,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=1.75 : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162339.00,,,,,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,162340.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162341.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162342.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.44 14.16 3.97 4.00 0 28584.76 02:52:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162343.00,,,,,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,162344.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 3.84 14.84 3.96 3.99 0 20156.56 02:52:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162345.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162346.00,,,,,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: $c1q0 d- 31.84 4.29 16.30 3.98 3.99 0 4054.68 02:52:17 m : AshtechGps::processRecord() - $GPGGA,162347.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162348.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162349.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162350.00,,,,,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,162351.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162352.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.67 14.16 3.97 3.99 0 28584.51 02:52:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162353.00,,,,,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,162354.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.96 3.62 14.74 3.96 3.99 0 20156.16 02:52:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162355.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162356.00,,,,,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: $c1q0 d- 31.88 4.74 16.21 3.98 3.99 0 4054.38 02:52:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162357.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162358.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162359.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162400.00,,,,,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,162401.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162402.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 4.15 14.06 3.97 3.99 0 28584.13 02:52:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162403.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162404.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.27 14.74 3.96 3.99 0 20155.88 02:52:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162405.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162406.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 6.53 16.21 3.98 3.99 0 4053.89 02:52:37 m : AshtechGps::processRecord() - $GPGGA,162407.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162408.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162409.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162410.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162411.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162412.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.75 4.08 14.16 3.96 3.99 0 28583.82 02:52:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162413.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162414.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.42 14.74 3.96 3.99 0 20155.41 02:52:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162415.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162416.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.91 16.11 3.98 3.99 0 4053.55 02:52:47 m : AshtechGps::processRecord() - $GPGGA,162417.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162418.00,,,,,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,162419.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162420.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162421.00,,,,,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,162422.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.75 4.15 14.06 3.96 3.99 0 28583.36 02:52:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162423.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162424.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.42 14.74 3.96 3.99 0 20155.09 02:52:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162425.00,,,,,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,162426.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.91 16.11 3.98 3.99 0 4053.04 02:52:57 m : AshtechGps::processRecord() - $GPGGA,162427.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162428.00,,,,,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,162429.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162430.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162431.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162432.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 4.41 14.16 3.96 3.99 0 28583.08 02:53:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162433.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162434.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.27 14.74 3.96 3.99 0 20154.61 02:53:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162435.00,,,,,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,162436.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.77 16.21 3.98 3.99 0 4052.69 02:53:07 m : AshtechGps::processRecord() - $GPGGA,162437.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162438.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162439.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162440.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162441.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162442.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.85 14.16 3.96 3.99 0 28582.67 02:53:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162443.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162444.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.24 14.74 3.96 3.99 0 20154.32 02:53:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162445.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162446.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 5.80 16.21 3.98 3.99 0 4052.20 02:53:17 m : AshtechGps::processRecord() - $GPGGA,162447.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162448.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162449.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162450.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162451.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162452.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 4.49 14.06 3.96 3.99 0 28582.39 02:53:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162453.00,,,,,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,162454.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.34 14.74 3.96 3.99 0 20153.89 02:53:25 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162455.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162456.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.98 16.21 3.97 3.99 0 4051.87 02:53:27 m : AshtechGps::processRecord() - $GPGGA,162457.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162458.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162459.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162500.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162501.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.897489 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162502.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.897489 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.897489 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.79 3.63 14.16 3.96 3.99 0 28581.98 02:53:33 m : DepthEnvelope -- Measured altitude 13.897489 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.897489 under allowable altitude 15.000000. 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 : DepthEnvelope -- Measured altitude 13.897489 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162503.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.897489 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486538 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486538 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486538 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.486538 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162504.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.486538 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.486538 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.486538 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.96 2.94 14.84 3.96 3.99 0 20153.58 02:53:35 m : DepthEnvelope -- altitude 15.037518 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162505.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162506.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.95 1.47 16.21 3.97 3.99 0 4051.46 02:53:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162507.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162508.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162509.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162510.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162511.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162512.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.30 14.16 3.98 4.00 0 28581.86 02:53:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162513.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162514.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.31 14.84 3.97 4.00 0 20153.30 02:53:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162515.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162516.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 31.80 4.70 16.30 3.99 4.00 0 4051.21 02:53:47 m : AshtechGps::processRecord() - $GPGGA,162517.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : AshtechGps::processRecord() - $GPGGA,162518.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162519.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162520.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162521.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162522.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.75 3.75 14.06 3.98 4.00 0 28581.46 02:53:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162523.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162524.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.24 14.74 3.97 4.00 0 20153.00 02:53:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162525.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162526.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.53 16.21 3.99 4.00 0 4050.70 02:53:57 m : AshtechGps::processRecord() - $GPGGA,162527.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.980000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162528.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162529.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162530.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162531.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162532.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.75 3.52 14.16 3.97 4.00 0 28581.19 02:54:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162533.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162534.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.73 14.74 3.96 3.99 0 20152.56 02:54:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162535.00,,,,,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,162536.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.26 16.21 3.98 3.99 0 4050.39 02:54:07 m : AshtechGps::processRecord() - $GPGGA,162537.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162538.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162539.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162540.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162541.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162542.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.33 14.06 3.97 4.00 0 28580.82 02:54:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162543.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162544.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.77 14.64 3.96 3.99 0 20152.28 02:54:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162545.00,,,,,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,162546.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 4.36 16.21 3.98 3.99 0 4049.94 02:54:17 m : AshtechGps::processRecord() - $GPGGA,162547.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162548.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162549.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162550.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162551.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162552.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.48 13.96 3.97 4.00 0 28580.57 02:54:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162553.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162554.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 3.80 14.64 3.96 3.99 0 20151.84 02:54:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162555.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162556.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.84 4.32 16.21 3.98 3.99 0 4049.63 02:54:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162557.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162558.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162559.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162600.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162601.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162602.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.08 13.96 3.97 4.00 0 28580.15 02:54:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162603.00,,,,,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,162604.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 5.14 14.64 3.96 3.99 0 20151.54 02:54:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162605.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162606.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.80 4.77 16.11 3.98 3.99 0 4049.12 02:54:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162607.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162608.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162609.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162610.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162611.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162612.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.97 14.06 3.96 3.99 0 28579.85 02:54:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162613.00,,,,,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,162614.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.52 14.64 3.96 3.99 0 20151.05 02:54:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162615.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162616.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.76 4.91 16.11 3.97 3.99 0 4048.77 02:54:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162617.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162618.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162619.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162620.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162621.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162622.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.75 4.04 14.06 3.96 3.99 0 28579.43 02:54:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162623.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162624.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 4.31 14.74 3.96 3.99 0 20150.73 02:54:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162625.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162626.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.67 16.11 3.97 3.99 0 4048.26 02:54:57 m : AshtechGps::processRecord() - $GPGGA,162627.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162628.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162629.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162630.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162631.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162632.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.97 13.96 3.96 3.99 0 28579.14 02:55:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162633.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162634.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.34 14.64 3.96 3.98 0 20150.26 02:55:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162635.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162636.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.80 4.81 16.11 3.98 3.99 0 4047.87 02:55:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162637.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162638.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162639.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162640.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162641.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162642.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.89 14.06 3.96 3.99 0 28578.71 02:55:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162643.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162644.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.34 14.74 3.96 3.98 0 20149.96 02:55:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162645.00,,,,,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,162646.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.57 16.11 3.98 3.99 0 4047.38 02:55:17 m : AshtechGps::processRecord() - $GPGGA,162647.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162648.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162649.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162650.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162651.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162652.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 31.79 3.82 14.16 3.96 3.99 0 28578.43 02:55:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162653.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162654.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.45 14.74 3.96 3.99 0 20149.51 02:55:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,162655.00,,,,,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,162656.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.57 16.21 3.98 3.99 0 4047.05 02:55:27 m : AshtechGps::processRecord() - $GPGGA,162657.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162658.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162659.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.102609 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.102609 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.102609 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.102609 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162700.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.102609 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.102609 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.102609 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162701.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. 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 : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162702.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.709733 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.290009 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $aaq0 d- 31.83 1.89 14.16 3.96 3.99 0 28578.03 02:55:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162703.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162704.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 32.03 1.11 14.74 3.96 3.99 0 20149.21 02:55:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162705.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162706.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 2.60 16.11 3.98 3.99 0 4046.67 02:55:37 m : AshtechGps::processRecord() - $GPGGA,162707.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162708.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162709.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162710.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162711.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162712.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.04 14.06 3.97 3.99 0 28577.89 02:55:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162713.00,,,,,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,162714.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.31 14.74 3.96 3.99 0 20148.91 02:55:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162715.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162716.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : BluefinBatt Reply: $c1q0 d- 31.80 4.77 16.21 3.98 3.99 0 4046.35 02:55:47 m : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162717.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162718.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162719.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162720.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162721.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162722.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 3.67 14.16 3.97 3.99 0 28577.48 02:55:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162723.00,,,,,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,162724.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 3.95 14.74 3.96 3.99 0 20148.62 02:55:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162725.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162726.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.60 16.11 3.98 3.99 0 4045.87 02:55:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162727.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,162728.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162729.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162730.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162731.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162732.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 3.67 14.06 3.96 3.99 0 28577.23 02:56:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162733.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162734.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.88 14.64 3.96 3.99 0 20148.21 02:56:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162735.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162736.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 6.04 16.21 3.97 3.99 0 4045.55 02:56:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162737.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162738.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162739.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162740.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162741.00,,,,,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,162742.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 3.59 14.06 3.96 3.99 0 28576.85 02:56:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162743.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162744.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.73 14.64 3.96 3.99 0 20147.89 02:56:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162745.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162746.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 4.22 16.11 3.97 3.99 0 4045.11 02:56:17 m : AshtechGps::processRecord() - $GPGGA,162747.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162748.00,,,,,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,162749.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162750.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162751.00,,,,,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,162752.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.79 3.48 13.96 3.96 3.99 0 28576.60 02:56:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162753.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162754.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.02 14.64 3.96 3.99 0 20147.47 02:56:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162755.00,,,,,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,162756.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.60 16.11 3.98 3.99 0 4044.79 02:56:27 m : AshtechGps::processRecord() - $GPGGA,162757.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162758.00,,,,,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,162759.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162800.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162801.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162802.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.12 13.96 3.96 3.99 0 28576.17 02:56:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162803.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162804.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.74 14.64 3.96 3.99 0 20147.17 02:56:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162805.00,,,,,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,162806.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 5.05 16.11 3.98 3.99 0 4044.27 02:56:37 m : AshtechGps::processRecord() - $GPGGA,162807.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162808.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162809.00,,,,,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,162810.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162811.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162812.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.12 13.96 3.96 3.99 0 28575.88 02:56:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162813.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162814.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 4.13 14.64 3.96 3.98 0 20146.69 02:56:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162815.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162816.00,,,,,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: $c1q0 d- 31.84 4.50 16.01 3.97 3.98 0 4043.92 02:56:47 m : AshtechGps::processRecord() - $GPGGA,162817.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162818.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162819.00,,,,,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,162820.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162821.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162822.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.82 13.96 3.96 3.99 0 28575.43 02:56:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162823.00,,,,,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,162824.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.31 14.64 3.96 3.98 0 20146.40 02:56:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162825.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162826.00,,,,,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: $c1q0 d- 31.76 4.70 16.11 3.97 3.98 0 4043.42 02:56:57 m : AshtechGps::processRecord() - $GPGGA,162827.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162828.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162829.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162830.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162831.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162832.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.00 13.96 3.96 3.99 0 28575.15 02:57:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162833.00,,,,,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,162834.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.45 14.64 3.96 3.98 0 20145.93 02:57:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162835.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162836.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.80 4.74 16.11 3.97 3.98 0 4043.09 02:57:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162837.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162838.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162839.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162840.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162841.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162842.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.19 13.96 3.96 3.99 0 28574.71 02:57:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162843.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162844.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 5.03 14.74 3.96 3.98 0 20145.62 02:57:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162845.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162846.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 5.05 16.11 3.97 3.98 0 4042.54 02:57:17 m : AshtechGps::processRecord() - $GPGGA,162847.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162848.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162849.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162850.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162851.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162852.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 4.04 14.06 3.96 3.99 0 28574.39 02:57:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162853.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162854.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 31.88 4.34 14.74 3.96 3.98 0 20145.16 02:57:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162855.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162856.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.87 16.11 3.97 3.98 0 4042.19 02:57:27 m : AshtechGps::processRecord() - $GPGGA,162857.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162858.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162859.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162900.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162901.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162902.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.59 14.06 3.96 3.99 0 28573.97 02:57:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162903.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162904.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.98 14.74 3.96 3.98 0 20144.87 02:57:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162905.00,,,,,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,162906.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 5.94 16.11 3.97 3.98 0 4041.70 02:57:37 m : AshtechGps::processRecord() - $GPGGA,162907.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162908.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162909.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162910.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.920687 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.920687 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,162911.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.920687 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.920687 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.920687 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.920687 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.920687 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162912.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 24.249942 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $aaq0 d- 31.71 3.85 14.16 3.96 3.99 0 28573.70 02:57:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162913.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 28 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 4558.757704) Behavior FireTheGulperAMC:1007521 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1007521 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162914.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Gulper::fireGulper - cmd is $061Fff : BluefinBatt Reply: $c0q0 d- 32.03 0.93 14.74 3.96 3.99 0 20144.45 02:57:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162915.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 4560.397592) Behavior FireTheGulperAMC:1007521 has changed to state Finished : LayeredControl - sending BehaviorFinished:1007521 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162916.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 2.40 16.21 3.97 3.99 0 4041.39 02:57:47 m : AshtechGps::processRecord() - $GPGGA,162917.00,,,,,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=1.75 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : StatePublisher: Updating state vector : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : DynoLayeredControl::insert - stack now contains 29 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 4562.987414) Behavior FireTheGulperAMC:1007490 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1007490 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,162918.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Gulper::fireGulper - cmd is $071Fff : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162919.00,,,,,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=1.75 : LayeredControl::execute() -- (t = 4564.797290) Behavior FireTheGulperAMC:1007490 has changed to state Finished : LayeredControl - sending BehaviorFinished:1007490 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162920.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162921.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162922.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.71 14.06 3.96 3.99 0 28573.39 02:57:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162923.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162924.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.20 14.64 3.96 3.99 0 20144.24 02:57:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162925.00,,,,,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,162926.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.74 16.21 3.97 3.99 0 4040.98 02:57:57 m : AshtechGps::processRecord() - $GPGGA,162927.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162928.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162929.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162930.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162931.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162932.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.89 13.96 3.96 3.99 0 28573.11 02:58:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162933.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162934.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 3.98 14.64 3.96 3.99 0 20143.79 02:58:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162935.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162936.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.80 5.12 16.21 3.97 3.98 0 4040.65 02:58:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162937.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162938.00,,,,,0,00,,,M,,M,,*4F : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162939.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162940.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162941.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162942.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.63 13.96 3.96 3.99 0 28572.72 02:58:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162943.00,,,,,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,162944.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 3.84 14.64 3.96 3.99 0 20143.52 02:58:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162945.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162946.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.29 16.11 3.97 3.98 0 4040.15 02:58:17 m : AshtechGps::processRecord() - $GPGGA,162947.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,162948.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162949.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162950.00,,,,,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,162951.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162952.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.56 13.96 3.96 3.99 0 28572.46 02:58:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162953.00,,,,,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,162954.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.16 14.64 3.96 3.99 0 20143.10 02:58:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162955.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162956.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.64 16.11 3.98 3.99 0 4039.84 02:58:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,162957.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,162958.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,162959.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163000.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163001.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163002.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.04 13.96 3.96 3.99 0 28572.05 02:58:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163003.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163004.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.45 14.64 3.96 3.99 0 20142.79 02:58:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163005.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163006.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.76 4.98 16.01 3.98 3.99 0 4039.33 02:58:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163007.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163008.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163009.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163010.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163011.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163012.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 4.04 13.96 3.96 3.99 0 28571.75 02:58:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163013.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163014.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.31 14.64 3.95 3.98 0 20142.26 02:58:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163015.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163016.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.98 16.01 3.97 3.98 0 4038.98 02:58:47 m : AshtechGps::processRecord() - $GPGGA,163017.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163018.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163019.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163020.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163021.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163022.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 4.15 13.96 3.96 3.99 0 28571.30 02:58:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163023.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163024.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.27 14.64 3.95 3.98 0 20141.95 02:58:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163025.00,,,,,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,163026.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.73 5.01 16.01 3.97 3.98 0 4038.46 02:58:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163027.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163028.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163029.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163030.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163031.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163032.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.15 13.96 3.96 3.99 0 28571.01 02:59:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163033.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163034.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.60 14.64 3.96 3.98 0 20141.42 02:59:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163035.00,,,,,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,163036.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.76 5.01 16.01 3.97 3.98 0 4038.12 02:59:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163037.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163038.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163039.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163040.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163041.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163042.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.26 13.96 3.96 3.99 0 28570.57 02:59:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163043.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163044.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.56 14.74 3.96 3.98 0 20141.11 02:59:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163045.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163046.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.98 16.11 3.97 3.98 0 4037.60 02:59:17 m : AshtechGps::processRecord() - $GPGGA,163047.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163048.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163049.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163050.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163051.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163052.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.04 13.96 3.96 3.99 0 28570.29 02:59:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163053.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,163054.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.38 14.64 3.95 3.98 0 20140.64 02:59:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163055.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163056.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.80 5.18 16.11 3.97 3.98 0 4037.27 02:59:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163057.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163058.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163059.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163100.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163101.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.687015 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.687015 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.687015 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.687015 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.687015 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163102.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.687015 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.687015 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.71 4.49 13.96 3.96 3.99 0 28569.88 02:59:33 m : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. 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 : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163103.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.975892 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163104.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.949110 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 3.08 14.74 3.95 3.98 0 20140.35 02:59:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163105.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163106.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.84 1.61 16.11 3.97 3.98 0 4036.87 02:59:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163107.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163108.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163109.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163110.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163111.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163112.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.63 14.06 3.97 4.00 0 28569.75 02:59:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163113.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163114.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.06 14.74 3.96 3.99 0 20140.03 02:59:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163115.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163116.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.64 16.21 3.98 3.99 0 4036.61 02:59:47 m : AshtechGps::processRecord() - $GPGGA,163117.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,163118.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163119.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163120.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163121.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163122.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 3.89 14.06 3.97 4.00 0 28569.32 02:59:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163123.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163124.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.98 14.64 3.96 3.99 0 20139.70 02:59:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163125.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163126.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.43 16.11 3.98 3.99 0 4036.11 02:59:57 m : AshtechGps::processRecord() - $GPGGA,163127.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163128.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163129.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163130.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163131.00,,,,,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,163132.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.56 13.96 3.96 3.99 0 28569.04 03:00:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163133.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163134.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.20 14.64 3.96 3.98 0 20139.27 03:00:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163135.00,,,,,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,163136.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.12 16.11 3.97 3.98 0 4035.80 03:00:07 m : AshtechGps::processRecord() - $GPGGA,163137.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163138.00,,,,,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,163139.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163140.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163141.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163142.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.41 13.96 3.96 3.99 0 28568.66 03:00:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163143.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163144.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.92 3.70 14.64 3.96 3.98 0 20138.98 03:00:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163145.00,,,,,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,163146.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 4.08 16.11 3.97 3.98 0 4035.35 03:00:17 m : AshtechGps::processRecord() - $GPGGA,163147.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163148.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163149.00,,,,,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,163150.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163151.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163152.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.71 13.96 3.96 3.99 0 28568.41 03:00:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163153.00,,,,,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=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163154.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 3.70 14.55 3.96 3.99 0 20138.57 03:00:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163155.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163156.00,,,,,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: $c1q0 d- 31.80 4.08 16.11 3.97 3.98 0 4035.01 03:00:27 m : AshtechGps::processRecord() - $GPGGA,163157.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163158.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163159.00,,,,,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,163200.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163201.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163202.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.19 13.96 3.96 3.99 0 28568.01 03:00:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163203.00,,,,,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,163204.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.31 14.55 3.96 3.99 0 20138.29 03:00:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163205.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163206.00,,,,,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: $c1q0 d- 31.73 4.81 16.01 3.97 3.98 0 4034.51 03:00:37 m : AshtechGps::processRecord() - $GPGGA,163207.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163208.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163209.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163210.00,,,,,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,163211.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163212.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 5.41 13.96 3.95 3.98 0 28567.71 03:00:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163213.00,,,,,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,163214.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.38 14.64 3.95 3.98 0 20137.80 03:00:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163215.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163216.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.76 4.64 16.01 3.97 3.98 0 4034.17 03:00:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163217.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163218.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163219.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163220.00,,,,,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,163221.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163222.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.23 13.96 3.95 3.98 0 28567.26 03:00:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163223.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163224.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.34 14.64 3.95 3.98 0 20137.49 03:00:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163225.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163226.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.76 4.70 15.91 3.97 3.98 0 4033.62 03:00:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163227.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163228.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163229.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163230.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163231.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163232.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.93 13.86 3.96 3.98 0 28566.97 03:01:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163233.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163234.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.38 14.64 3.95 3.98 0 20137.01 03:01:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163235.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163236.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.81 16.01 3.97 3.98 0 4033.27 03:01:07 m : AshtechGps::processRecord() - $GPGGA,163237.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163238.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163239.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163240.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163241.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163242.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 4.15 13.96 3.96 3.98 0 28566.52 03:01:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163243.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163244.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.20 14.64 3.95 3.98 0 20136.70 03:01:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163245.00,,,,,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,163246.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.57 15.91 3.97 3.98 0 4032.76 03:01:17 m : AshtechGps::processRecord() - $GPGGA,163247.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163248.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163249.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163250.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163251.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163252.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.08 13.96 3.96 3.98 0 28566.24 03:01:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163253.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163254.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.88 4.13 14.64 3.95 3.98 0 20136.25 03:01:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163255.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163256.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.91 16.01 3.97 3.98 0 4032.43 03:01:27 m : AshtechGps::processRecord() - $GPGGA,163257.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163258.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163259.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163300.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163301.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163302.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.34 13.96 3.96 3.98 0 28565.83 03:01:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163303.00,,,,,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=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163304.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.84 4.52 14.64 3.95 3.98 0 20135.95 03:01:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163305.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163306.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.64 16.01 3.97 3.98 0 4031.90 03:01:37 m : AshtechGps::processRecord() - $GPGGA,163307.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163308.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163309.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163310.00,,,,,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=1.75 : DepthEnvelope -- Measured altitude 13.174426 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.174426 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.174426 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163311.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.174426 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.174426 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.174426 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.174426 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.990404 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163312.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.990404 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.990404 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.67 3.97 13.96 3.96 3.99 0 28565.53 03:01:43 m : DepthEnvelope -- Measured altitude 12.990404 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.990404 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.990404 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163313.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.990404 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163314.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 32.00 1.07 14.64 3.95 3.98 0 20135.53 03:01:45 m : DepthEnvelope -- Measured altitude 14.635948 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 16.660754 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,163315.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163316.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 1.51 16.11 3.97 3.98 0 4031.61 03:01:47 m : AshtechGps::processRecord() - $GPGGA,163317.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163318.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163319.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163320.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163321.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163322.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.30 14.06 3.96 3.99 0 28565.31 03:01:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163323.00,,,,,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,163324.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.84 4.45 14.64 3.95 3.98 0 20135.37 03:01:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163325.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163326.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.76 4.67 16.11 3.97 3.98 0 4031.26 03:01:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163327.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163328.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163329.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163330.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163331.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163332.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.00 13.86 3.96 3.98 0 28565.02 03:02:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163333.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163334.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 4.16 14.64 3.95 3.98 0 20134.90 03:02:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163335.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163336.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.73 5.25 16.11 3.97 3.98 0 4030.92 03:02:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163337.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163338.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163339.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163340.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163341.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163342.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.89 13.86 3.96 3.98 0 28564.61 03:02:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163343.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163344.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.98 14.64 3.95 3.98 0 20134.60 03:02:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163345.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163346.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.80 4.12 16.01 3.97 3.98 0 4030.43 03:02:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163347.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163348.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163349.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163350.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163351.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163352.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 3.71 13.96 3.96 3.99 0 28564.34 03:02:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163353.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163354.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.84 14.55 3.96 3.98 0 20134.18 03:02:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163355.00,,,,,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,163356.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.39 16.01 3.97 3.98 0 4030.11 03:02:27 m : AshtechGps::processRecord() - $GPGGA,163357.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163358.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163359.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163400.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163401.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163402.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.59 13.86 3.96 3.99 0 28563.95 03:02:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163403.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163404.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.80 14.55 3.96 3.98 0 20133.89 03:02:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163405.00,,,,,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,163406.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.43 16.01 3.97 3.98 0 4029.65 03:02:37 m : AshtechGps::processRecord() - $GPGGA,163407.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163408.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163409.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163410.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163411.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163412.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.30 13.86 3.96 3.99 0 28563.70 03:02:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163413.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163414.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.13 14.55 3.96 3.98 0 20133.49 03:02:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163415.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163416.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 4.57 16.01 3.97 3.98 0 4029.35 03:02:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163417.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163418.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163419.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163420.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163421.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163422.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 4.49 13.76 3.96 3.99 0 28563.26 03:02:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163423.00,,,,,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,163424.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 4.34 14.55 3.96 3.98 0 20133.18 03:02:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163425.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163426.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.39 16.01 3.97 3.98 0 4028.85 03:02:57 m : AshtechGps::processRecord() - $GPGGA,163427.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.963333 : AshtechGps::processRecord() - $GPGGA,163428.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163429.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163430.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163431.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163432.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.67 4.12 13.86 3.95 3.98 0 28562.98 03:03:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163433.00,,,,,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,163434.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.84 4.13 14.64 3.95 3.98 0 20132.69 03:03:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163435.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163436.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.74 16.01 3.97 3.98 0 4028.52 03:03:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163437.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : AshtechGps::processRecord() - $GPGGA,163438.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163439.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163440.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163441.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163442.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.12 13.86 3.95 3.98 0 28562.56 03:03:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163443.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163444.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.52 14.64 3.95 3.98 0 20132.37 03:03:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163445.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163446.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 5.98 16.01 3.97 3.98 0 4028.02 03:03:17 m : AshtechGps::processRecord() - $GPGGA,163447.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : AshtechGps::processRecord() - $GPGGA,163448.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163449.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163450.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163451.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163452.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 3.82 13.96 3.96 3.98 0 28562.26 03:03:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163453.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163454.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.16 14.64 3.95 3.98 0 20131.91 03:03:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163455.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163456.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.73 4.53 16.01 3.97 3.98 0 4027.69 03:03:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163457.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163458.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163459.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163500.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163501.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163502.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 4.04 13.96 3.96 3.98 0 28561.83 03:03:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163503.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163504.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.24 14.64 3.95 3.98 0 20131.60 03:03:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163505.00,,,,,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,163506.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.64 15.91 3.97 3.98 0 4027.21 03:03:37 m : AshtechGps::processRecord() - $GPGGA,163507.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163508.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163509.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163510.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163511.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163512.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.93 13.96 3.96 3.98 0 28561.55 03:03:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163513.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163514.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.09 14.64 3.95 3.98 0 20131.15 03:03:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163515.00,,,,,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,163516.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.84 16.01 3.97 3.98 0 4026.87 03:03:47 m : AshtechGps::processRecord() - $GPGGA,163517.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163518.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163519.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163520.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163521.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163522.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.04 13.96 3.96 3.98 0 28561.12 03:03:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163523.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163524.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.676319 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.676319 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.84 4.24 14.64 3.95 3.98 0 20130.84 03:03:55 m : DepthEnvelope -- Measured altitude 13.676319 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.676319 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163525.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.676319 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.676319 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.676319 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.176411 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.176411 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,163526.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.176411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.176411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.176411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.176411 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.46 16.01 3.97 3.98 0 4026.37 03:03:57 m : DepthEnvelope -- Measured altitude 13.176411 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163527.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163528.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.458497 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.516424 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163529.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163530.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163531.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163532.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.79 1.70 13.96 3.97 4.00 0 28560.95 03:04:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163533.00,,,,,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,163534.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 3.34 14.64 3.97 4.00 0 20130.58 03:04:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163535.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163536.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.76 4.70 16.01 3.98 4.00 0 4026.22 03:04:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163537.00,,,,,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=1.75 : Isus::select() timeout : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163538.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163539.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163540.00,,,,,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,163541.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163542.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.04 13.96 3.97 4.00 0 28560.59 03:04:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163543.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.871876 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.871876 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.871876 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163544.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.871876 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.871876 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.871876 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.84 4.52 14.64 3.97 4.00 0 20130.27 03:04:15 m : DepthEnvelope -- Measured altitude 14.871876 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 25.577773 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,163545.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163546.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.84 2.75 16.01 3.98 4.00 0 4025.71 03:04:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163547.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.970000, mean min cell voltage 3.973333 : AshtechGps::processRecord() - $GPGGA,163548.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163549.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163550.00,,,,,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,163551.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163552.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.07 13.96 3.97 4.00 0 28560.39 03:04:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163553.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163554.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.91 14.55 3.96 3.99 0 20129.92 03:04:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163555.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163556.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.36 16.01 3.98 3.99 0 4025.47 03:04:27 m : AshtechGps::processRecord() - $GPGGA,163557.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,163558.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163559.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163600.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163601.00,,,,,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,163602.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 3.63 13.96 3.97 4.00 0 28560.00 03:04:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163603.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163604.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.95 14.55 3.96 3.99 0 20129.63 03:04:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163605.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163606.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.46 16.01 3.98 3.99 0 4024.99 03:04:37 m : AshtechGps::processRecord() - $GPGGA,163607.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163608.00,,,,,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,163609.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163610.00,,,,,0,00,,,M,,M,,*4B : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163611.00,,,,,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,163612.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.63 13.86 3.96 3.98 0 28559.73 03:04:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163613.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163614.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 3.70 14.55 3.95 3.98 0 20129.20 03:04:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163615.00,,,,,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,163616.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.19 16.01 3.97 3.98 0 4024.66 03:04:47 m : AshtechGps::processRecord() - $GPGGA,163617.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163618.00,,,,,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,163619.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163620.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163621.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163622.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.93 13.86 3.96 3.98 0 28559.34 03:04:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163623.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,163624.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.06 14.55 3.95 3.98 0 20128.92 03:04:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163625.00,,,,,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,163626.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.76 4.19 15.91 3.97 3.98 0 4024.20 03:04:57 m : AshtechGps::processRecord() - $GPGGA,163627.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : AshtechGps::processRecord() - $GPGGA,163628.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163629.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163630.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163631.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163632.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.04 13.86 3.96 3.98 0 28559.08 03:05:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163633.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163634.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.52 14.45 3.95 3.98 0 20128.48 03:05:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163635.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163636.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 4.84 16.01 3.97 3.98 0 4023.87 03:05:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163637.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163638.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163639.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163640.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163641.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163642.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.23 13.86 3.96 3.98 0 28558.64 03:05:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163643.00,,,,,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,163644.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 5.17 14.45 3.95 3.98 0 20128.17 03:05:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163645.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163646.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.69 4.84 15.91 3.97 3.98 0 4023.35 03:05:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163647.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.960000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163648.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163649.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163650.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163651.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163652.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.12 13.86 3.95 3.98 0 28558.35 03:05:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163653.00,,,,,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,163654.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.84 4.31 14.55 3.95 3.98 0 20127.69 03:05:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163655.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163656.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 4.81 15.91 3.96 3.98 0 4023.01 03:05:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163657.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163658.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163659.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163700.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163701.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163702.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.23 13.76 3.95 3.98 0 28557.87 03:05:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163703.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163704.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.38 14.64 3.95 3.98 0 20127.38 03:05:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163705.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163706.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.91 15.91 3.96 3.98 0 4022.48 03:05:37 m : AshtechGps::processRecord() - $GPGGA,163707.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163708.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163709.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163710.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163711.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163712.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 3.89 13.96 3.95 3.98 0 28557.58 03:05:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163713.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163714.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.24 14.55 3.95 3.98 0 20126.91 03:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163715.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163716.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.60 16.01 3.96 3.98 0 4022.15 03:05:47 m : AshtechGps::processRecord() - $GPGGA,163717.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163718.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163719.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163720.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163721.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163722.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 3.97 13.86 3.95 3.98 0 28557.14 03:05:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163723.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163724.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.60 14.64 3.95 3.98 0 20126.60 03:05:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163725.00,,,,,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,163726.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.77 16.01 3.96 3.98 0 4021.64 03:05:57 m : AshtechGps::processRecord() - $GPGGA,163727.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163728.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163729.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163730.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163731.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163732.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 4.08 13.86 3.95 3.98 0 28556.86 03:06:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163733.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163734.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.24 14.64 3.95 3.98 0 20126.13 03:06:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163735.00,,,,,0,00,,,M,,M,,*4D : 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,163736.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.50 15.91 3.96 3.98 0 4021.30 03:06:07 m : AshtechGps::processRecord() - $GPGGA,163737.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163738.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163739.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163740.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163741.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163742.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.93 13.86 3.95 3.98 0 28556.44 03:06:13 m : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163743.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.185510 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163744.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.694506 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.694506 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.694506 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.84 3.95 14.64 3.95 3.98 0 20125.83 03:06:15 m : DepthEnvelope -- Measured altitude 13.694506 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.694506 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,163745.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.694506 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.694506 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.562471 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163746.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.88 1.37 16.01 3.96 3.98 0 4020.85 03:06:17 m : AshtechGps::processRecord() - $GPGGA,163747.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163748.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163749.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163750.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163751.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163752.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.30 13.96 3.97 4.00 0 28556.31 03:06:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163753.00,,,,,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,163754.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.84 3.88 14.64 3.96 3.99 0 20125.52 03:06:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163755.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163756.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.87 16.01 3.98 3.99 0 4020.63 03:06:27 m : AshtechGps::processRecord() - $GPGGA,163757.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : AshtechGps::processRecord() - $GPGGA,163758.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163759.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163800.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163801.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163802.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.15 13.86 3.97 4.00 0 28555.91 03:06:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163803.00,,,,,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,163804.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.31 14.64 3.96 3.99 0 20125.22 03:06:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163805.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163806.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 4.64 16.01 3.98 3.99 0 4020.15 03:06:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163807.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.970000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163808.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163809.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163810.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163811.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163812.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 3.67 13.96 3.95 3.98 0 28555.62 03:06:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163813.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163814.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.84 14.55 3.95 3.98 0 20124.81 03:06:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163815.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163816.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.73 4.50 15.91 3.97 3.98 0 4019.85 03:06:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163817.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : AshtechGps::processRecord() - $GPGGA,163818.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163819.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163820.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163821.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163822.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 3.59 13.96 3.95 3.98 0 28555.24 03:06:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163823.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163824.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 4.09 14.45 3.95 3.98 0 20124.48 03:06:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163825.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163826.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.22 15.91 3.97 3.98 0 4019.39 03:06:57 m : AshtechGps::processRecord() - $GPGGA,163827.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163828.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163829.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163830.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163831.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163832.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 3.82 13.76 3.95 3.98 0 28554.99 03:07:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163833.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163834.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.70 14.45 3.95 3.98 0 20124.08 03:07:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163835.00,,,,,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,163836.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.26 15.91 3.97 3.98 0 4019.10 03:07:07 m : AshtechGps::processRecord() - $GPGGA,163837.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : AshtechGps::processRecord() - $GPGGA,163838.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163839.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163840.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163841.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163842.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.37 13.86 3.95 3.98 0 28554.61 03:07:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163843.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163844.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.80 14.45 3.95 3.98 0 20123.81 03:07:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163845.00,,,,,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,163846.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.73 4.53 16.01 3.97 3.98 0 4018.66 03:07:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163847.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.956667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163848.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163849.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163850.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163851.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163852.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.15 13.76 3.95 3.98 0 28554.36 03:07:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163853.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163854.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.67 14.45 3.95 3.98 0 20123.37 03:07:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163855.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163856.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.91 15.91 3.96 3.98 0 4018.33 03:07:27 m : AshtechGps::processRecord() - $GPGGA,163857.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163858.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163859.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163900.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163901.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163902.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.19 13.76 3.95 3.98 0 28553.87 03:07:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163903.00,,,,,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,163904.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.96 14.45 3.95 3.98 0 20123.06 03:07:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163905.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163906.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.91 15.91 3.96 3.98 0 4017.80 03:07:37 m : AshtechGps::processRecord() - $GPGGA,163907.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163908.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163909.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163910.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163911.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163912.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.15 13.86 3.95 3.98 0 28553.58 03:07:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163913.00,,,,,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,163914.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 5.64 14.55 3.95 3.98 0 20122.55 03:07:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163915.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163916.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 5.01 15.91 3.96 3.98 0 4017.46 03:07:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163917.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163918.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163919.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163920.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163921.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163922.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.97 13.76 3.95 3.98 0 28553.16 03:07:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163923.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163924.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.38 14.55 3.95 3.98 0 20122.24 03:07:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163925.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163926.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.77 15.91 3.96 3.98 0 4016.96 03:07:57 m : AshtechGps::processRecord() - $GPGGA,163927.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163928.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163929.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163930.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163931.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163932.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 3.93 13.76 3.95 3.98 0 28552.87 03:08:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163933.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163934.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.31 14.55 3.94 3.98 0 20121.79 03:08:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163935.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163936.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.84 15.91 3.96 3.98 0 4016.58 03:08:07 m : AshtechGps::processRecord() - $GPGGA,163937.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163938.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163939.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163940.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163941.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163942.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 4.08 13.76 3.95 3.98 0 28552.44 03:08:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163943.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163944.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.31 14.55 3.94 3.98 0 20121.48 03:08:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163945.00,,,,,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,163946.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.84 15.91 3.96 3.98 0 4016.06 03:08:17 m : AshtechGps::processRecord() - $GPGGA,163947.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,163948.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163949.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163950.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163951.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,163952.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.93 13.86 3.95 3.98 0 28552.16 03:08:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163953.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163954.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.45 14.64 3.95 3.98 0 20121.01 03:08:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,163955.00,,,,,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,163956.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.70 15.91 3.96 3.98 0 4015.73 03:08:27 m : AshtechGps::processRecord() - $GPGGA,163957.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,163958.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,163959.00,,,,,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,164000.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164001.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.244737 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.64 3.78 13.86 3.95 3.98 0 28551.73 03:08:33 m : DepthEnvelope -- Measured altitude 13.244737 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.244737 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.244737 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.244737 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.244737 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.244737 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.81 4.02 14.55 3.95 3.98 0 20120.72 03:08:35 m : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.608644 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.914771 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.88 1.54 15.91 3.96 3.98 0 4015.24 03:08:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164007.00,,,,,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=1.75 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164008.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164009.00,,,,,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,164010.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164011.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164012.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 3.22 13.96 3.96 3.99 0 28551.55 03:08:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164013.00,,,,,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,164014.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.06 14.64 3.96 3.99 0 20120.39 03:08:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164015.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.69 4.81 16.01 3.98 3.99 0 4015.01 03:08:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164017.00,,,,,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=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164018.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164019.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164020.00,,,,,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,164021.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.52 13.86 3.96 3.99 0 28551.15 03:08:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164023.00,,,,,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,164024.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.13 14.55 3.96 3.99 0 20120.09 03:08:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164025.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164026.00,,,,,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: $c1q0 d- 31.73 5.50 15.91 3.98 3.99 0 4014.50 03:08:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,164028.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164029.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164030.00,,,,,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,164031.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.89 13.76 3.95 3.98 0 28550.87 03:09:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.02 14.55 3.95 3.98 0 20119.64 03:09:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164035.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164036.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.15 16.01 3.96 3.98 0 4014.19 03:09:07 m : AshtechGps::processRecord() - $GPGGA,164037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,164038.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164039.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164040.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164041.00,,,,,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,164042.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 3.52 13.86 3.95 3.98 0 28550.49 03:09:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164043.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.88 14.45 3.95 3.98 0 20119.37 03:09:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164045.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.29 16.01 3.96 3.98 0 4013.68 03:09:17 m : AshtechGps::processRecord() - $GPGGA,164047.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164052.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.67 3.41 13.86 3.95 3.98 0 28550.23 03:09:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164053.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164054.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 3.70 14.45 3.95 3.98 0 20118.96 03:09:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164055.00,,,,,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,164056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.29 16.01 3.96 3.98 0 4013.39 03:09:27 m : AshtechGps::processRecord() - $GPGGA,164057.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,164058.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164059.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164101.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.56 13.86 3.95 3.98 0 28549.85 03:09:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.81 3.88 14.45 3.95 3.98 0 20118.69 03:09:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.69 4.81 16.01 3.96 3.98 0 4012.92 03:09:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164108.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164109.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.15 13.76 3.95 3.98 0 28549.53 03:09:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.20 14.45 3.94 3.98 0 20118.23 03:09:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.81 15.91 3.96 3.97 0 4012.57 03:09:47 m : AshtechGps::processRecord() - $GPGGA,164117.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164119.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164120.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164122.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.93 13.76 3.95 3.98 0 28549.10 03:09:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164123.00,,,,,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,164124.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.31 14.45 3.94 3.98 0 20117.90 03:09:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164126.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.69 4.84 15.82 3.96 3.97 0 4012.08 03:09:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164127.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164128.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164129.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164130.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164131.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164132.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 4.00 13.86 3.95 3.98 0 28548.82 03:10:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164133.00,,,,,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,164134.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 4.49 14.55 3.94 3.98 0 20117.45 03:10:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.69 5.12 15.82 3.96 3.98 0 4011.74 03:10:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164137.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164139.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164140.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164141.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164142.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.30 13.86 3.95 3.98 0 28548.35 03:10:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164144.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.60 14.55 3.94 3.98 0 20117.13 03:10:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164146.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.69 4.84 15.91 3.96 3.98 0 4011.24 03:10:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164147.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164148.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164149.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164150.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164151.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164152.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 4.19 13.86 3.95 3.98 0 28548.04 03:10:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164154.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.38 14.55 3.94 3.98 0 20116.66 03:10:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 5.32 15.91 3.96 3.97 0 4010.89 03:10:27 m : AshtechGps::processRecord() - $GPGGA,164157.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164158.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164159.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164201.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164202.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 4.08 13.86 3.95 3.98 0 28547.59 03:10:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164204.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.42 14.55 3.94 3.98 0 20116.34 03:10:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164205.00,,,,,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,164206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.91 15.91 3.96 3.97 0 4010.37 03:10:37 m : AshtechGps::processRecord() - $GPGGA,164207.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164208.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164209.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164210.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164211.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164212.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.12 13.86 3.95 3.98 0 28547.30 03:10:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164213.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164214.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.49 14.55 3.94 3.97 0 20115.85 03:10:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164215.00,,,,,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,164216.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 5.08 15.91 3.96 3.97 0 4010.03 03:10:47 m : AshtechGps::processRecord() - $GPGGA,164217.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164218.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164219.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164220.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164221.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164222.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.00 13.86 3.95 3.98 0 28546.86 03:10:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164224.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.77 4.27 14.64 3.94 3.97 0 20115.52 03:10:55 m : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.571411 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 22.233618 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.15 16.01 3.96 3.97 0 4009.49 03:10:57 m : AshtechGps::processRecord() - $GPGGA,164227.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164228.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164229.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164230.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164231.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164232.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 2.67 13.96 3.96 3.99 0 28546.66 03:11:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164233.00,,,,,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,164234.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.84 3.84 14.64 3.96 3.99 0 20115.19 03:11:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164235.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164236.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 4.53 16.01 3.98 3.99 0 4009.30 03:11:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164237.00,,,,,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=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164238.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164239.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164240.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164241.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164242.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.82 13.86 3.96 3.99 0 28546.29 03:11:13 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164243.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164244.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 3.95 14.55 3.96 3.99 0 20114.90 03:11:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164245.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 4.29 16.01 3.98 3.99 0 4008.82 03:11:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,164248.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164249.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164250.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164251.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.48 13.76 3.95 3.98 0 28546.04 03:11:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.84 14.55 3.94 3.98 0 20114.48 03:11:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164255.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 4.12 16.01 3.96 3.98 0 4008.51 03:11:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164257.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164258.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164259.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164302.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 3.52 13.76 3.95 3.98 0 28545.66 03:11:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164303.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164304.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.96 14.45 3.94 3.98 0 20114.20 03:11:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164305.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164306.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.69 4.26 15.91 3.96 3.98 0 4008.02 03:11:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164307.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164309.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164310.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164311.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164312.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 3.48 13.76 3.95 3.98 0 28545.41 03:11:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164313.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164314.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.73 14.45 3.95 3.98 0 20113.80 03:11:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.19 15.91 3.96 3.98 0 4007.72 03:11:47 m : AshtechGps::processRecord() - $GPGGA,164317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,164318.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164321.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 3.85 13.76 3.95 3.98 0 28545.04 03:11:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 4.16 14.45 3.95 3.98 0 20113.52 03:11:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.74 15.91 3.96 3.98 0 4007.19 03:11:57 m : AshtechGps::processRecord() - $GPGGA,164327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,164328.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164332.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.08 13.76 3.95 3.98 0 28544.76 03:12:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.27 14.45 3.94 3.98 0 20113.06 03:12:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.67 15.82 3.96 3.97 0 4006.84 03:12:07 m : AshtechGps::processRecord() - $GPGGA,164337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164339.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164342.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.78 13.76 3.95 3.98 0 28544.35 03:12:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164343.00,,,,,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,164344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.34 14.45 3.94 3.98 0 20112.76 03:12:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.81 15.82 3.96 3.97 0 4006.34 03:12:17 m : AshtechGps::processRecord() - $GPGGA,164347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164349.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164351.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.08 13.76 3.95 3.98 0 28544.07 03:12:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164354.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.27 14.45 3.94 3.97 0 20112.28 03:12:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 5.22 15.82 3.96 3.97 0 4005.99 03:12:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164357.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.08 13.67 3.95 3.98 0 28543.64 03:12:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164403.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164404.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.31 14.45 3.94 3.97 0 20111.97 03:12:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164405.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.69 5.12 15.91 3.96 3.97 0 4005.45 03:12:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164407.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164408.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164410.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 4.04 13.76 3.94 3.98 0 28543.32 03:12:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164414.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.45 14.55 3.94 3.97 0 20111.49 03:12:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 5.08 15.82 3.96 3.97 0 4005.11 03:12:47 m : AshtechGps::processRecord() - $GPGGA,164417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164418.00,,,,,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,164419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164421.00,,,,,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,164422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 3.71 13.76 3.94 3.98 0 28542.88 03:12:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.24 14.55 3.94 3.97 0 20111.14 03:12:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164425.00,,,,,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,164426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.73 4.64 15.91 3.96 3.97 0 4004.60 03:12:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164428.00,,,,,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,164429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164431.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 31.60 3.78 13.86 3.95 3.98 0 28542.60 03:13:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164433.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 5.14 14.55 3.94 3.97 0 20110.66 03:13:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164435.00,,,,,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,164436.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.64 15.91 3.96 3.97 0 4004.26 03:13:07 m : AshtechGps::processRecord() - $GPGGA,164437.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164438.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.783414 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.783414 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.783414 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.783414 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.783414 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.783414 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.783414 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.777576 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.777576 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.777576 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.777576 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.777576 under allowable altitude 15.000000. 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 : DepthEnvelope -- Measured altitude 13.777576 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.777576 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.632728 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $aaq0 d- 31.60 3.48 13.76 3.95 3.98 0 28542.19 03:13:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164443.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164444.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 1.14 14.55 3.94 3.97 0 20110.38 03:13:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164446.00,,,,,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: $c1q0 d- 31.80 2.57 16.01 3.96 3.97 0 4003.87 03:13:17 m : AshtechGps::processRecord() - $GPGGA,164447.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164448.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164449.00,,,,,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,164450.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164451.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.82 13.86 3.95 3.98 0 28542.05 03:13:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164454.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.45 14.55 3.95 3.98 0 20110.07 03:13:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164455.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164456.00,,,,,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: $c1q0 d- 31.66 4.67 15.91 3.96 3.98 0 4003.58 03:13:27 m : AshtechGps::processRecord() - $GPGGA,164457.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,164458.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164459.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164500.00,,,,,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,164501.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.82 13.86 3.95 3.98 0 28541.59 03:13:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164504.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 3.95 14.45 3.95 3.98 0 20109.78 03:13:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164505.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164506.00,,,,,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: $c1q0 d- 31.66 4.50 15.91 3.96 3.98 0 4003.11 03:13:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : AshtechGps::processRecord() - $GPGGA,164508.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164509.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164511.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.52 13.76 3.95 3.98 0 28541.35 03:13:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.02 14.45 3.94 3.98 0 20109.34 03:13:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164515.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164516.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.53 15.91 3.96 3.98 0 4002.82 03:13:47 m : AshtechGps::processRecord() - $GPGGA,164517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164518.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164519.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164520.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164522.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 3.63 13.76 3.95 3.98 0 28540.96 03:13:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164523.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.02 14.45 3.94 3.98 0 20109.06 03:13:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164525.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,164526.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.69 4.29 15.91 3.96 3.98 0 4002.36 03:13:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164527.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164529.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164530.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164532.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 3.56 13.76 3.95 3.98 0 28540.71 03:14:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164533.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164534.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.38 14.45 3.94 3.98 0 20108.62 03:14:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164535.00,,,,,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,164536.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.73 4.43 15.91 3.96 3.98 0 4002.07 03:14:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164537.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164538.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164539.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164541.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.78 13.67 3.95 3.98 0 28540.33 03:14:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.84 14.35 3.94 3.98 0 20108.34 03:14:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.69 4.39 15.82 3.96 3.98 0 4001.62 03:14:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164548.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164549.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164550.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164551.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164552.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 5.82 13.67 3.94 3.97 0 28540.06 03:14:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.34 14.35 3.94 3.97 0 20107.88 03:14:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 5.01 15.82 3.96 3.97 0 4001.29 03:14:27 m : AshtechGps::processRecord() - $GPGGA,164557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,164558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164559.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164602.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.26 13.76 3.94 3.97 0 28539.62 03:14:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164603.00,,,,,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,164604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.38 14.45 3.94 3.97 0 20107.57 03:14:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164606.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 5.01 15.82 3.96 3.97 0 4000.78 03:14:37 m : AshtechGps::processRecord() - $GPGGA,164607.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,164608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164609.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164610.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164611.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.12 13.76 3.94 3.98 0 28539.33 03:14:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164613.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 5.50 14.45 3.94 3.97 0 20107.10 03:14:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 5.15 15.82 3.96 3.97 0 4000.43 03:14:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,164618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.12 13.76 3.94 3.98 0 28538.90 03:14:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.49 14.45 3.94 3.97 0 20106.80 03:14:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.66 4.84 15.82 3.96 3.97 0 3999.92 03:14:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164627.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164629.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164630.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164631.00,,,,,0,00,,,M,,M,,*4F : 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,164632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 4.19 13.76 3.94 3.98 0 28538.60 03:15:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164634.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.49 14.45 3.94 3.97 0 20106.33 03:15:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.91 15.82 3.95 3.97 0 3999.58 03:15:07 m : AshtechGps::processRecord() - $GPGGA,164637.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164641.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 4.26 13.76 3.94 3.98 0 28538.17 03:15:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164644.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.42 14.55 3.94 3.97 0 20106.02 03:15:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164645.00,,,,,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,164646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.66 5.15 15.82 3.95 3.97 0 3999.07 03:15:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164651.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.15 13.76 3.94 3.98 0 28537.88 03:15:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.63 14.45 3.94 3.97 0 20105.54 03:15:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.66 5.08 15.91 3.96 3.97 0 3998.72 03:15:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164658.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164700.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164701.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.23 13.86 3.94 3.98 0 28537.44 03:15:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164703.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,164704.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 4.56 14.55 3.94 3.97 0 20105.23 03:15:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164705.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164706.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.66 4.39 15.91 3.96 3.97 0 3998.21 03:15:37 m : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164707.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164708.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.211742 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.302646 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.302646 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.302646 under allowable altitude 15.000000. 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 : DepthEnvelope -- Measured altitude 13.302646 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164709.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.302646 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.302646 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.302646 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.688556 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.688556 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164710.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.688556 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.688556 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.688556 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.688556 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.688556 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,164711.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.534170 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164712.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.71 0.77 13.86 3.95 3.98 0 28537.20 03:15:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164713.00,,,,,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,164714.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 1.79 14.55 3.94 3.98 0 20104.91 03:15:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164715.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164716.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 3.64 16.01 3.96 3.98 0 3998.02 03:15:47 m : AshtechGps::processRecord() - $GPGGA,164717.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164718.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164719.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164720.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164721.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.97 13.86 3.95 3.98 0 28536.91 03:15:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164724.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.09 14.55 3.94 3.98 0 20104.64 03:15:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164725.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164726.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.77 16.01 3.96 3.98 0 3997.56 03:15:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,164728.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164729.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164731.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.59 13.76 3.94 3.98 0 28536.65 03:16:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164733.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.38 14.45 3.94 3.97 0 20104.19 03:16:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164735.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 31.66 4.46 15.91 3.96 3.97 0 3997.25 03:16:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164738.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164739.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164740.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.14 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164742.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 3.63 13.76 3.94 3.98 0 28536.26 03:16:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164743.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 5668.201702) Behavior waypoint_yoyo:827034 has changed to state Finished : LayeredControl - sending BehaviorFinished:827034 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,164744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.73 14.45 3.94 3.97 0 20103.90 03:16:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164745.00,,,,,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,164746.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.43 15.91 3.96 3.97 0 3996.78 03:16:17 m : AshtechGps::processRecord() - $GPGGA,164747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164749.00,,,,,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,164750.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,164751.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164752.00,,,,,0,00,,,M,,M,,*4B : 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 : BluefinBatt Reply: $aaq0 d- 31.60 3.41 13.76 3.94 3.98 0 28536.01 03:16:23 m : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 30 behaviors : LayeredControl::execute() -- (t = 5677.571060) Behavior ascend:1292866 has changed to state Active : LayeredControl - ascend BehaviorStarted:1292866 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164753.00,,,,,0,00,,,M,,M,,*4A : 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,164754.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.70 14.45 3.94 3.97 0 20103.48 03:16:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164755.00,,,,,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,164756.00,,,,,0,00,,,M,,M,,*4F : 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: $c1q0 d- 31.69 3.43 16.01 3.96 3.97 0 3996.47 03:16:27 m : AshtechGps::processRecord() - $GPGGA,164757.00,,,,,0,00,,,M,,M,,*4E : 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 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,164758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164759.00,,,,,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,164800.00,,,,,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,164801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 2.07 13.76 3.94 3.98 0 28535.72 03:16:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164803.00,,,,,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,164804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.84 2.55 14.45 3.94 3.97 0 20103.27 03:16:35 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,164805.00,,,,,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,164806.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 31.73 3.23 15.91 3.96 3.97 0 3996.14 03:16:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164807.00,,,,,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 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,164808.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,164809.00,,,,,0,00,,,M,,M,,*4A : 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,164810.00,,,,,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,164811.00,,,,,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,164812.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.64 2.63 13.76 3.95 3.98 0 28535.53 03:16:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164813.00,,,,,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,164814.00,,,,,0,00,,,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 : BluefinBatt Reply: $c0q0 d- 31.81 3.01 14.35 3.95 3.98 0 20102.98 03:16:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 5700.599482) Behavior ascend:1292866 has changed to state Finished : LayeredControl - sending BehaviorFinished:1292866 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.73 3.46 15.82 3.96 3.98 0 3995.91 03:16:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164817.00,,,,,0,00,,,M,,M,,*45 : 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 getgps after pos 2 : DynoLayeredControl::insert - stack now contains 31 behaviors : LayeredControl::execute() -- (t = 5702.779333) Behavior getgps:1299880 has changed to state Active : LayeredControl - getgps BehaviorStarted:1299880 msg to VcsServer : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164818.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164819.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164820.00,,,,,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,164821.00,,,,,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,164822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.75 0.70 13.76 3.95 3.98 0 28535.32 03:16:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164823.00,,,,,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,164824.00,3649.40069,N,12152.71247,W,1,07,1.1,0.13,M,-32.59,M,,*57 : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.92 1.03 14.35 3.95 3.98 0 20102.81 03:16:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164825.00,3649.40013,N,12152.71214,W,1,07,1.1,-0.40,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,164826.00,3649.39977,N,12152.71144,W,1,07,1.1,-0.38,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 3 of 30 needed : BluefinBatt Reply: $c1q0 d- 31.84 1.47 15.91 3.96 3.98 0 3995.66 03:16:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164827.00,3649.39923,N,12152.71123,W,1,07,1.1,-1.09,M,-32.59,M,,*7B : 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 : batts online 3, min cell voltage 3.950000, mean min cell voltage 3.953334 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164828.00,3649.39889,N,12152.71096,W,1,07,1.1,-1.56,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164829.00,3649.39849,N,12152.71096,W,1,07,1.1,-1.74,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164830.00,3649.39823,N,12152.71073,W,1,07,1.1,-1.77,M,-32.59,M,,*71 : 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,164831.00,3649.39781,N,12152.71056,W,1,07,1.1,-1.62,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 8 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,164832.00,3649.39751,N,12152.71012,W,1,07,1.1,-1.51,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 9 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.71 0.85 13.67 3.96 3.99 0 28535.25 03:17:03 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,164833.00,3649.39717,N,12152.70983,W,1,07,1.1,-1.67,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164834.00,3649.39688,N,12152.70954,W,1,07,1.1,-1.77,M,-32.59,M,,*77 : 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 : BluefinBatt Reply: $c0q0 d- 31.92 1.00 14.35 3.96 3.99 0 20102.69 03:17:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164835.00,3649.39659,N,12152.70926,W,1,07,1.1,-1.91,M,-32.59,M,,*77 : 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,164836.00,3649.39631,N,12152.70902,W,1,07,1.1,-1.63,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 1.44 15.82 3.98 3.99 0 3995.55 03:17:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164837.00,3649.39617,N,12152.70873,W,1,07,1.1,-1.67,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 14 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,164838.00,3649.39595,N,12152.70850,W,1,07,1.1,-1.78,M,-32.59,M,,*7E : 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 : AshtechGps::processRecord() - $GPGGA,164839.00,3649.39587,N,12152.70799,W,1,07,1.1,-1.80,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,164840.00,3649.39552,N,12152.70777,W,1,07,1.1,-2.07,M,-32.59,M,,*7B : 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,164841.00,3649.39540,N,12152.70742,W,1,07,1.1,-2.23,M,-32.59,M,,*79 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,164842.00,3649.39514,N,12152.70740,W,1,07,1.1,-2.25,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.79 0.81 13.67 3.96 3.99 0 28535.16 03:17:13 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,164843.00,3649.39510,N,12152.70715,W,1,07,1.1,-2.23,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164844.00,3649.39491,N,12152.70702,W,1,07,1.1,-2.09,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.92 1.07 14.35 3.96 3.99 0 20102.60 03:17:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164845.00,3649.39481,N,12152.70662,W,1,07,1.1,-1.78,M,-32.59,M,,*7F : 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,164846.00,3649.39466,N,12152.70608,W,1,07,1.1,-1.86,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 : BluefinBatt Reply: $c1q0 d- 31.80 1.47 15.82 3.98 3.99 0 3995.39 03:17:17 m : AshtechGps::processRecord() - $GPGGA,164847.00,3649.39442,N,12152.70573,W,1,07,1.1,-2.17,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 24 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,164848.00,3649.39436,N,12152.70546,W,1,07,1.1,-2.53,M,-32.59,M,,*71 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164849.00,3649.39414,N,12152.70549,W,1,07,1.1,-2.73,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 26 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164850.00,3649.39416,N,12152.70535,W,1,07,1.1,-2.66,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164851.00,3649.39395,N,12152.70522,W,1,07,1.1,-2.52,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 28 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164852.00,3649.39398,N,12152.70493,W,1,07,1.1,-2.36,M,-32.59,M,,*73 : 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 : BluefinBatt Reply: $aaq0 d- 31.75 0.81 13.57 3.96 3.99 0 28535.10 03:17:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164853.00,3649.39387,N,12152.70470,W,1,07,1.1,-2.21,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 5738.196907) Behavior getgps:1299880 has changed to state Finished : LayeredControl - sending BehaviorFinished:1299880 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,164854.00,3649.39389,N,12152.70433,W,1,07,1.1,-2.21,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 31.92 0.96 14.35 3.96 3.99 0 20102.48 03:17:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 32 behaviors : LayeredControl::execute() -- (t = 5740.166772) Behavior setpoint:1309423 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1309423 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164855.00,3649.39377,N,12152.70408,W,1,07,1.1,-2.44,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164856.00,3649.39376,N,12152.70378,W,1,07,1.1,-2.29,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 31.80 1.44 15.82 3.98 3.99 0 3995.27 03:17:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164857.00,3649.39370,N,12152.70339,W,1,07,1.1,-2.34,M,-32.59,M,,*75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164858.00,3649.39367,N,12152.70308,W,1,07,1.1,-2.62,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164859.00,3649.39366,N,12152.70292,W,1,07,1.1,-2.70,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,164900.00,3649.39373,N,12152.70280,W,1,07,1.1,-2.89,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,164901.00,3649.39366,N,12152.70279,W,1,07,1.1,-2.88,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164902.00,3649.39363,N,12152.70272,W,1,07,1.1,-2.55,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- 31.75 0.77 13.57 3.96 3.99 0 28535.01 03:17:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164903.00,3649.39362,N,12152.70243,W,1,07,1.1,-2.22,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,164904.00,3649.39364,N,12152.70208,W,1,07,1.1,-2.06,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 31.92 1.07 14.35 3.96 3.99 0 20102.41 03:17:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164905.00,3649.39365,N,12152.70170,W,1,08,1.1,-2.05,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164906.00,3649.39373,N,12152.70138,W,1,08,1.1,-2.25,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.80 1.51 15.72 3.98 3.99 0 3995.11 03:17:37 m : AshtechGps::processRecord() - $GPGGA,164907.00,3649.39381,N,12152.70118,W,1,08,1.1,-2.51,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 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,164908.00,3649.39382,N,12152.70108,W,1,08,1.1,-2.54,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164909.00,3649.39375,N,12152.70090,W,1,08,1.1,-2.48,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,164910.00,3649.39385,N,12152.70070,W,1,08,1.1,-2.69,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,164911.00,3649.39374,N,12152.70059,W,1,08,1.1,-2.69,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164912.00,3649.39394,N,12152.70058,W,1,08,1.1,-2.37,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 31.79 0.81 13.67 3.96 4.00 0 28534.94 03:17:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164913.00,3649.39389,N,12152.70026,W,1,08,1.1,-2.04,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,164914.00,3649.39405,N,12152.69993,W,1,08,1.1,-2.35,M,-32.59,M,,*7A : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.92 0.96 14.35 3.96 3.99 0 20102.30 03:17:45 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,164915.00,3649.39409,N,12152.69971,W,1,08,1.1,-2.44,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164916.00,3649.39421,N,12152.69960,W,1,08,1.1,-2.43,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.84 1.51 15.72 3.98 3.99 0 3995.00 03:17:47 m : AshtechGps::processRecord() - $GPGGA,164917.00,3649.39431,N,12152.69943,W,1,08,1.1,-2.86,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 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,164918.00,3649.39431,N,12152.69923,W,1,08,1.1,-2.63,M,-32.59,M,,*79 : LayeredControl::execute() -- (t = 5763.195194) Behavior setpoint:1309423 has changed to state Finished : LayeredControl - sending BehaviorFinished:1309423 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,164919.00,3649.39439,N,12152.69899,W,1,08,1.1,-2.48,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,164920.00,3649.39445,N,12152.69870,W,1,08,1.1,-2.93,M,-32.59,M,,*79 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 33 behaviors : LayeredControl::execute() -- (t = 5765.355046) Behavior setpoint:1316117 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1316117 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164921.00,3649.39456,N,12152.69868,W,1,08,1.1,-3.09,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 34 behaviors : AshtechGps::processRecord() - $GPGGA,164922.00,3649.39463,N,12152.69867,W,1,08,1.1,-2.75,M,-32.59,M,,*71 : BluefinBatt Reply: $aaq0 d- 31.79 0.70 13.76 3.96 4.00 0 28534.86 03:17:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164923.00,3649.39462,N,12152.69848,W,1,08,1.1,-2.61,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164924.00,3649.39476,N,12152.69832,W,1,08,1.1,-2.71,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.92 1.83 14.35 3.96 3.99 0 20102.22 03:17:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164925.00,3649.39479,N,12152.69809,W,1,08,1.1,-2.59,M,-32.59,M,,*7B : LayeredControl::execute() -- (t = 5770.394701) Behavior setpoint:1316117 has changed to state Finished : LayeredControl - sending BehaviorFinished:1316117 msg to VcsServer : LayeredControl::execute() -- (t = 5770.394701) Behavior descend:1316075 has changed to state Active : LayeredControl - descend BehaviorStarted:1316075 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164926.00,3649.39486,N,12152.69776,W,1,08,1.1,-2.56,M,-32.59,M,,*70 : BluefinBatt Reply: $c1q0 d- 31.69 4.15 15.72 3.98 3.99 0 3994.80 03:17:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164927.00,3649.39502,N,12152.69744,W,1,08,1.1,-2.63,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164928.00,3649.39524,N,12152.69717,W,1,08,1.1,-2.46,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164929.00,3649.39562,N,12152.69681,W,1,08,1.1,-2.18,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164930.00,3649.39605,N,12152.69626,W,1,08,1.1,-2.27,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164931.00,3649.39649,N,12152.69586,W,1,08,1.1,-2.25,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164932.00,3649.39684,N,12152.69540,W,1,08,1.1,-2.39,M,-32.59,M,,*7B : BluefinBatt Reply: $aaq0 d- 31.52 5.12 13.76 3.94 3.98 0 28534.64 03:18:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164933.00,3649.39725,N,12152.69517,W,1,08,1.1,-2.22,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164934.00,3649.39771,N,12152.69490,W,1,08,1.1,-1.94,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.81 3.23 14.35 3.94 3.97 0 20101.84 03:18:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164935.00,3649.39826,N,12152.69460,W,1,08,1.1,-1.82,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164936.00,3649.39886,N,12152.69447,W,1,08,1.1,-2.04,M,-32.59,M,,*7B : BluefinBatt Reply: $c1q0 d- 31.69 4.01 15.72 3.96 3.97 0 3994.48 03:18:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164937.00,3649.39950,N,12152.69445,W,1,08,1.1,-1.83,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164938.00,3649.40007,N,12152.69430,W,1,08,1.1,-1.75,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164939.00,3649.40052,N,12152.69422,W,1,08,1.1,-1.93,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164940.00,3649.40139,N,12152.69395,W,1,08,1.1,-5.02,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164941.00,3649.40108,N,12152.69443,W,1,08,1.1,-3.95,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.97 13.67 3.94 3.98 0 28534.23 03:18:13 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.24 14.25 3.94 3.97 0 20101.57 03:18:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.64 15.82 3.96 3.97 0 3994.01 03:18:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164947.00,,,,,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 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,164948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.60 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164950.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.165236 > 2.000000 at time 5795.792961 : LayeredControl::execute() -- (t = 5795.792961) Behavior descend:1316075 has changed to state Finished : LayeredControl - sending BehaviorFinished:1316075 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,164951.00,,,,,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,164952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : BluefinBatt Reply: $aaq0 d- 31.60 4.00 13.76 3.94 3.98 0 28533.96 03:18:23 m : DynoLayeredControl::insert - stack now contains 35 behaviors : Waypoint Initialization: Begin waypoint control at t= 5797.57 (wplog) The current location (N,E) = 4075868.3 , 600031.6 (wplog) The next waypoint = 4074909.2 , 599567.5 (wplog) The bearing to the next w.p. is 205.8 Degrees. : LayeredControl::execute() -- (t = 5797.572839) Behavior waypoint_yoyo:1324721 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1324721 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,164954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.52 14.35 3.94 3.97 0 20101.11 03:18:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.81 15.72 3.96 3.97 0 3993.67 03:18:27 m : AshtechGps::processRecord() - $GPGGA,164957.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,164958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,164959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 4.26 13.67 3.94 3.98 0 28533.53 03:18:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.42 14.35 3.94 3.97 0 20100.80 03:18:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.58 6.63 15.82 3.96 3.97 0 3993.12 03:18:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165007.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165010.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.71 0.66 13.67 3.94 3.98 0 28533.24 03:18:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165014.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.88 2.37 14.35 3.94 3.97 0 20100.44 03:18:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165015.00,,,,,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,165016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 3.98 15.72 3.96 3.97 0 3992.89 03:18:47 m : AshtechGps::processRecord() - $GPGGA,165017.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,165020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165021.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.85 13.76 3.94 3.98 0 28532.93 03:18:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165024.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.67 14.45 3.94 3.97 0 20100.13 03:18:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.81 15.82 3.96 3.97 0 3992.40 03:18:57 m : AshtechGps::processRecord() - $GPGGA,165027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165028.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165031.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 4.00 13.76 3.94 3.98 0 28532.66 03:19:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.49 14.35 3.94 3.97 0 20099.66 03:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.91 15.82 3.96 3.97 0 3992.05 03:19:07 m : AshtechGps::processRecord() - $GPGGA,165037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165038.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165042.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.97 13.57 3.94 3.98 0 28532.21 03:19:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165043.00,,,,,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,165044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.49 14.45 3.94 3.97 0 20099.34 03:19:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.94 15.82 3.96 3.97 0 3991.53 03:19:17 m : AshtechGps::processRecord() - $GPGGA,165047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165049.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165052.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.78 13.76 3.94 3.97 0 28531.93 03:19:23 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.45 14.45 3.94 3.97 0 20098.84 03:19:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.91 15.82 3.96 3.97 0 3991.19 03:19:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165059.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.93 13.67 3.94 3.97 0 28531.51 03:19:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.31 14.45 3.94 3.97 0 20098.52 03:19:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.74 15.82 3.96 3.97 0 3990.63 03:19:37 m : AshtechGps::processRecord() - $GPGGA,165107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 4.00 13.67 3.94 3.98 0 28531.22 03:19:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 4.20 14.45 3.94 3.97 0 20098.06 03:19:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.66 4.81 15.82 3.96 3.97 0 3990.31 03:19:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,165117.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165120.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 3.93 13.76 3.94 3.98 0 28530.82 03:19:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165124.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.77 3.98 14.45 3.94 3.97 0 20097.76 03:19:55 m : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.799172 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.342673 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.342673 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.342673 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.342673 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.342673 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.342673 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.342673 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 3.43 16.01 3.96 3.97 0 3989.82 03:19:57 m : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165127.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.554799 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.159314 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165131.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 1.66 13.76 3.96 3.99 0 28530.66 03:20:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165134.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 3.23 14.45 3.96 3.98 0 20097.49 03:20:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 4.53 16.01 3.98 3.98 0 3989.68 03:20:07 m : AshtechGps::processRecord() - $GPGGA,165137.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,165138.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165140.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165141.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.08 13.76 3.96 3.99 0 28530.31 03:20:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 4.24 14.45 3.96 3.98 0 20097.20 03:20:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.74 16.01 3.98 3.98 0 3989.17 03:20:17 m : AshtechGps::processRecord() - $GPGGA,165147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.960000, mean min cell voltage 3.966666 : AshtechGps::processRecord() - $GPGGA,165148.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165152.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.52 13.76 3.94 3.98 0 28530.04 03:20:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165153.00,,,,,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,165154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 3.77 14.45 3.94 3.97 0 20096.77 03:20:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165156.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.66 4.26 16.01 3.96 3.97 0 3988.87 03:20:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,165158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.63 13.76 3.94 3.98 0 28529.66 03:20:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 3.91 14.35 3.94 3.97 0 20096.46 03:20:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.32 15.91 3.96 3.97 0 3988.41 03:20:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165209.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165211.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.44 13.76 3.94 3.98 0 28529.42 03:20:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.73 14.45 3.94 3.97 0 20096.05 03:20:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.22 15.91 3.96 3.97 0 3988.07 03:20:47 m : AshtechGps::processRecord() - $GPGGA,165217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165222.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 4.26 13.76 3.94 3.98 0 28529.06 03:20:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.84 14.35 3.94 3.97 0 20095.79 03:20:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.22 15.91 3.96 3.97 0 3987.63 03:20:57 m : AshtechGps::processRecord() - $GPGGA,165227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165230.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.60 3.52 13.76 3.94 3.98 0 28528.82 03:21:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165234.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.80 14.35 3.94 3.97 0 20095.33 03:21:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165235.00,,,,,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,165236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.77 15.91 3.96 3.97 0 3987.32 03:21:07 m : AshtechGps::processRecord() - $GPGGA,165237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165240.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.97 13.76 3.94 3.98 0 28528.42 03:21:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 5.60 14.35 3.94 3.97 0 20094.96 03:21:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.62 5.15 15.82 3.96 3.97 0 3986.81 03:21:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165251.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.08 13.76 3.94 3.97 0 28528.15 03:21:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.24 14.45 3.94 3.97 0 20094.48 03:21:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 5.25 15.91 3.95 3.97 0 3986.48 03:21:27 m : AshtechGps::processRecord() - $GPGGA,165257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165258.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165301.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.19 13.76 3.94 3.97 0 28527.74 03:21:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165303.00,,,,,0,00,,,M,,M,,*4A : 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,165304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.38 14.45 3.94 3.97 0 20094.18 03:21:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.66 4.87 15.91 3.95 3.97 0 3985.98 03:21:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.89 13.76 3.94 3.97 0 28527.44 03:21:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.38 14.45 3.94 3.97 0 20093.72 03:21:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.62 4.81 15.91 3.95 3.97 0 3985.64 03:21:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165319.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.78 13.67 3.94 3.97 0 28527.03 03:21:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.24 14.45 3.94 3.97 0 20093.37 03:21:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.66 4.77 15.91 3.95 3.97 0 3985.15 03:21:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.93 13.76 3.94 3.97 0 28526.76 03:22:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.06 14.55 3.94 3.97 0 20092.92 03:22:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.53 15.91 3.96 3.97 0 3984.78 03:22:07 m : AshtechGps::processRecord() - $GPGGA,165337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165338.00,,,,,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,165339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165341.00,,,,,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,165342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.97 13.86 3.94 3.97 0 28526.36 03:22:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.38 14.55 3.94 3.97 0 20092.62 03:22:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165345.00,,,,,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,165346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 5.01 15.91 3.96 3.97 0 3984.29 03:22:17 m : AshtechGps::processRecord() - $GPGGA,165347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,165349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.82 13.86 3.94 3.97 0 28526.09 03:22:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.16 14.55 3.94 3.97 0 20092.18 03:22:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.58 4.70 16.01 3.95 3.97 0 3983.97 03:22:27 m : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.892455 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.915581 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : DepthEnvelope -- Measured altitude 12.915581 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.915581 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.915581 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.915581 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.915581 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.915581 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.321425 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 16.187818 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165401.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 0.70 13.76 3.94 3.97 0 28525.80 03:22:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.88 1.21 14.55 3.94 3.97 0 20091.99 03:22:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165406.00,,,,,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: $c1q0 d- 31.73 3.19 16.01 3.95 3.97 0 3983.69 03:22:37 m : AshtechGps::processRecord() - $GPGGA,165407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165408.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165409.00,,,,,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,165410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165412.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.26 13.96 3.94 3.97 0 28525.62 03:22:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165413.00,,,,,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,165414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.38 14.55 3.94 3.97 0 20091.62 03:22:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.66 4.60 16.01 3.96 3.97 0 3983.36 03:22:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165417.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165419.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165420.00,,,,,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,165421.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165422.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.93 13.76 3.94 3.97 0 28525.18 03:22:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165423.00,,,,,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,165424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 5.42 14.45 3.94 3.97 0 20091.32 03:22:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.46 15.91 3.96 3.97 0 3982.88 03:22:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,165428.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165429.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.44 13.76 3.94 3.97 0 28524.91 03:23:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 3.91 14.45 3.94 3.97 0 20090.88 03:23:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.36 16.01 3.95 3.97 0 3982.56 03:23:07 m : AshtechGps::processRecord() - $GPGGA,165437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165439.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165440.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165441.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165442.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.75 13.76 3.94 3.97 0 28524.52 03:23:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165443.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165444.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.84 14.45 3.94 3.97 0 20090.60 03:23:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165446.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.54 5.73 15.91 3.95 3.97 0 3982.05 03:23:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165447.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165448.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165449.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165450.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165451.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165452.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.71 13.76 3.94 3.97 0 28524.26 03:23:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165453.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165454.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.73 14.35 3.94 3.97 0 20090.19 03:23:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165455.00,,,,,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,165456.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.05 16.01 3.95 3.97 0 3981.74 03:23:27 m : AshtechGps::processRecord() - $GPGGA,165457.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165458.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165459.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165500.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165501.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165502.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.67 13.67 3.94 3.97 0 28523.88 03:23:33 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165504.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 5.39 14.35 3.94 3.97 0 20089.86 03:23:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165505.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.39 15.91 3.95 3.97 0 3981.29 03:23:37 m : AshtechGps::processRecord() - $GPGGA,165507.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165508.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165509.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165510.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165511.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165512.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.15 13.67 3.94 3.97 0 28523.62 03:23:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165514.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.45 14.35 3.94 3.96 0 20089.37 03:23:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165516.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.58 5.08 15.82 3.95 3.96 0 3980.97 03:23:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165517.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165518.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165519.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165520.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165521.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165522.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.12 13.76 3.94 3.97 0 28523.18 03:23:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165523.00,,,,,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,165524.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.60 14.35 3.94 3.96 0 20089.01 03:23:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165525.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165526.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.81 15.82 3.95 3.96 0 3980.46 03:23:57 m : AshtechGps::processRecord() - $GPGGA,165527.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165528.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165529.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165530.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165531.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165532.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.19 13.67 3.94 3.97 0 28522.89 03:24:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165534.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.49 14.45 3.93 3.96 0 20088.52 03:24:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165535.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.77 15.82 3.95 3.96 0 3980.12 03:24:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165539.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.12 13.67 3.94 3.97 0 28522.46 03:24:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.38 14.45 3.93 3.96 0 20088.20 03:24:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.74 15.91 3.95 3.96 0 3979.60 03:24:17 m : AshtechGps::processRecord() - $GPGGA,165547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165550.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 4.12 13.76 3.94 3.97 0 28522.16 03:24:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.27 14.45 3.93 3.96 0 20087.72 03:24:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.70 16.01 3.94 3.96 0 3979.26 03:24:27 m : AshtechGps::processRecord() - $GPGGA,165557.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936666 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 4.19 13.67 3.94 3.97 0 28521.71 03:24:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165604.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.34 14.55 3.93 3.96 0 20087.38 03:24:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165605.00,,,,,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,165606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.64 15.91 3.94 3.96 0 3978.76 03:24:37 m : AshtechGps::processRecord() - $GPGGA,165607.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936666 : AshtechGps::processRecord() - $GPGGA,165608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165610.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165611.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.89 13.76 3.94 3.97 0 28521.43 03:24:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165614.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.31 14.45 3.93 3.96 0 20086.91 03:24:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.50 15.91 3.95 3.96 0 3978.42 03:24:47 m : AshtechGps::processRecord() - $GPGGA,165617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165618.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165619.00,,,,,0,00,,,M,,M,,*44 : 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,165620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165621.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.78 13.86 3.94 3.97 0 28521.01 03:24:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 5.50 14.45 3.93 3.96 0 20086.61 03:24:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 5.01 16.01 3.95 3.96 0 3977.87 03:24:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165628.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165632.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.56 3.85 13.76 3.94 3.97 0 28520.73 03:25:03 m : DepthEnvelope -- Measured altitude 13.757462 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.718071 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.718071 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,165633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.718071 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.718071 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.718071 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.718071 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.718071 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165634.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.107493 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.107493 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.107493 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.81 2.12 14.45 3.93 3.96 0 20086.17 03:25:05 m : DepthEnvelope -- Measured altitude 14.107493 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.107493 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.107493 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.107493 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.866038 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.73 1.51 16.01 3.95 3.96 0 3977.54 03:25:07 m : AshtechGps::processRecord() - $GPGGA,165637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165639.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165642.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.60 3.33 13.76 3.94 3.97 0 28520.47 03:25:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.24 14.55 3.93 3.96 0 20086.02 03:25:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.58 4.84 16.01 3.95 3.96 0 3977.20 03:25:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165649.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.56 3.67 13.76 3.94 3.97 0 28520.19 03:25:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.34 14.45 3.94 3.96 0 20085.58 03:25:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 4.57 16.01 3.95 3.96 0 3976.86 03:25:27 m : AshtechGps::processRecord() - $GPGGA,165657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165701.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 3.71 13.67 3.94 3.97 0 28519.79 03:25:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.24 14.45 3.94 3.96 0 20085.31 03:25:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.66 4.64 16.01 3.95 3.96 0 3976.39 03:25:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 3.56 13.76 3.94 3.97 0 28519.53 03:25:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.42 14.45 3.94 3.97 0 20084.87 03:25:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165715.00,,,,,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,165716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.46 15.91 3.95 3.96 0 3976.07 03:25:47 m : AshtechGps::processRecord() - $GPGGA,165717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165721.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.59 13.76 3.94 3.97 0 28519.14 03:25:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 3.84 14.45 3.94 3.97 0 20084.59 03:25:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,165725.00,,,,,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,165726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.15 15.91 3.95 3.96 0 3975.62 03:25:57 m : AshtechGps::processRecord() - $GPGGA,165727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : AshtechGps::processRecord() - $GPGGA,165728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165731.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.44 13.57 3.94 3.97 0 28518.88 03:26:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 3.91 14.35 3.94 3.97 0 20084.20 03:26:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 4.26 15.91 3.95 3.96 0 3975.32 03:26:07 m : AshtechGps::processRecord() - $GPGGA,165737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,165738.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.30 13.76 3.94 3.97 0 28518.51 03:26:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165743.00,,,,,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,165744.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.09 14.25 3.94 3.97 0 20083.94 03:26:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.58 4.57 15.91 3.95 3.96 0 3974.85 03:26:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.943333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165749.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165752.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.12 13.57 3.94 3.97 0 28518.25 03:26:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.49 14.25 3.93 3.96 0 20083.50 03:26:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165755.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.64 15.91 3.95 3.96 0 3974.51 03:26:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.00 13.57 3.94 3.97 0 28517.78 03:26:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.42 14.35 3.93 3.96 0 20083.19 03:26:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 6.25 15.82 3.95 3.96 0 3974.00 03:26:37 m : AshtechGps::processRecord() - $GPGGA,165807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165810.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.78 13.57 3.94 3.97 0 28517.45 03:26:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.42 14.35 3.93 3.96 0 20082.75 03:26:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.62 4.81 15.82 3.95 3.96 0 3973.66 03:26:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165817.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165819.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165820.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.97 13.57 3.94 3.97 0 28517.02 03:26:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165824.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.42 14.45 3.93 3.96 0 20082.40 03:26:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165825.00,,,,,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,165826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 5.05 15.82 3.95 3.96 0 3973.14 03:26:57 m : AshtechGps::processRecord() - $GPGGA,165827.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165828.00,,,,,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,165829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.19 13.76 3.93 3.97 0 28516.74 03:27:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165834.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.13 14.45 3.93 3.96 0 20081.93 03:27:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165835.00,,,,,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,165836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.58 4.67 15.82 3.95 3.96 0 3972.80 03:27:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165838.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165839.00,,,,,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,165840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165841.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.04 13.67 3.93 3.97 0 28516.32 03:27:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 4.31 14.45 3.93 3.96 0 20081.64 03:27:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165846.00,,,,,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: $c1q0 d- 31.58 4.74 15.91 3.95 3.96 0 3972.30 03:27:17 m : AshtechGps::processRecord() - $GPGGA,165847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,165848.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165849.00,,,,,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,165850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 4.00 13.76 3.93 3.96 0 28516.02 03:27:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165853.00,,,,,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,165854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 4.38 14.45 3.93 3.96 0 20081.18 03:27:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165855.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165856.00,,,,,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: $c1q0 d- 31.58 4.81 15.82 3.95 3.96 0 3971.96 03:27:27 m : AshtechGps::processRecord() - $GPGGA,165857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,165858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165900.00,,,,,0,00,,,M,,M,,*43 : 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,165901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.82 13.67 3.93 3.96 0 28515.60 03:27:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,165903.00,,,,,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,165904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 4.02 14.45 3.93 3.96 0 20080.90 03:27:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165906.00,,,,,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: $c1q0 d- 31.58 4.43 15.91 3.95 3.96 0 3971.47 03:27:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165909.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.655755 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.299872 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.299872 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.299872 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.299872 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,165910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.299872 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.299872 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.299872 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.525351 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.67 0.77 13.67 3.94 3.97 0 28515.34 03:27:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.81 1.65 14.45 3.93 3.96 0 20080.59 03:27:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165916.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 3.60 16.01 3.95 3.96 0 3971.24 03:27:47 m : AshtechGps::processRecord() - $GPGGA,165917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 4.12 13.76 3.94 3.97 0 28515.05 03:27:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165923.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.38 14.45 3.93 3.96 0 20080.32 03:27:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.64 15.91 3.95 3.96 0 3970.77 03:27:57 m : AshtechGps::processRecord() - $GPGGA,165927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.52 13.67 3.94 3.97 0 28514.78 03:28:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.06 14.35 3.93 3.96 0 20079.87 03:28:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.50 15.91 3.95 3.96 0 3970.46 03:28:07 m : AshtechGps::processRecord() - $GPGGA,165937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165941.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.71 13.76 3.94 3.97 0 28514.41 03:28:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165944.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.73 4.09 14.35 3.93 3.96 0 20079.59 03:28:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.46 15.91 3.95 3.96 0 3969.96 03:28:17 m : AshtechGps::processRecord() - $GPGGA,165947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165948.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165951.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.37 13.76 3.94 3.97 0 28514.17 03:28:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 3.88 14.35 3.93 3.96 0 20079.18 03:28:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,165956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.19 15.91 3.95 3.96 0 3969.65 03:28:27 m : AshtechGps::processRecord() - $GPGGA,165957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,165958.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,165959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.37 13.67 3.94 3.97 0 28513.80 03:28:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170003.00,,,,,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,170004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.73 3.80 14.35 3.93 3.96 0 20078.91 03:28:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.58 4.29 15.82 3.95 3.96 0 3969.20 03:28:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,170008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.48 13.57 3.94 3.97 0 28513.56 03:28:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 3.73 14.25 3.93 3.96 0 20078.50 03:28:45 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.62 4.22 15.91 3.95 3.96 0 3968.88 03:28:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.85 13.67 3.94 3.97 0 28513.16 03:28:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.96 14.25 3.93 3.96 0 20078.21 03:28:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.98 15.82 3.95 3.96 0 3968.40 03:28:57 m : AshtechGps::processRecord() - $GPGGA,170027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,170028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 4.04 13.67 3.93 3.96 0 28512.88 03:29:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.92 14.25 3.93 3.96 0 20077.69 03:29:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.58 4.87 15.72 3.95 3.96 0 3968.03 03:29:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 3.89 13.57 3.93 3.96 0 28512.45 03:29:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.16 14.35 3.93 3.96 0 20077.38 03:29:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170045.00,,,,,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,170046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.77 15.72 3.95 3.96 0 3967.53 03:29:17 m : AshtechGps::processRecord() - $GPGGA,170047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,170048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 4.04 13.67 3.93 3.96 0 28512.17 03:29:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.31 14.35 3.93 3.96 0 20076.91 03:29:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 6.25 15.72 3.94 3.96 0 3967.19 03:29:27 m : AshtechGps::processRecord() - $GPGGA,170057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.75 13.67 3.93 3.96 0 28511.75 03:29:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 4.27 14.35 3.93 3.96 0 20076.60 03:29:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.77 15.82 3.94 3.96 0 3966.68 03:29:37 m : AshtechGps::processRecord() - $GPGGA,170107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.75 13.57 3.93 3.97 0 28511.49 03:29:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170113.00,,,,,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,170114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 4.42 14.35 3.93 3.96 0 20076.16 03:29:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.87 15.82 3.95 3.96 0 3966.36 03:29:47 m : AshtechGps::processRecord() - $GPGGA,170117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,170118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.85 13.67 3.93 3.97 0 28511.07 03:29:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 4.20 14.45 3.93 3.96 0 20075.86 03:29:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.98 15.82 3.95 3.96 0 3965.87 03:29:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.59 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074909.2, 599567.5), reached at t = 6492.60 (wplog) : Vehicle Position is error is (0.3, -0.3) : LayeredControl::execute() -- (t = 6492.595227) Behavior waypoint_yoyo:1324721 has changed to state Finished : LayeredControl - sending BehaviorFinished:1324721 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,170128.00,,,,,0,00,,,M,,M,,*45 : 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,170129.00,,,,,0,00,,,M,,M,,*44 : 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,170130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170131.00,,,,,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,170132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.78 13.76 3.93 3.97 0 28510.81 03:30:03 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,170133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170134.00,,,,,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 36 behaviors : Waypoint Initialization: Begin waypoint control at t= 6499.56 (wplog) The current location (N,E) = 4074899.1 , 599563.0 (wplog) The next waypoint = 4074898.4 , 598618.9 (wplog) The bearing to the next w.p. is 270.0 Degrees. : LayeredControl::execute() -- (t = 6499.564749) Behavior waypoint_yoyo:1503206 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1503206 msg to VcsServer : BluefinBatt Reply: $c0q0 d- 31.69 4.27 14.45 3.93 3.96 0 20075.37 03:30:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 5.01 15.82 3.95 3.96 0 3965.54 03:30:07 m : AshtechGps::processRecord() - $GPGGA,170137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,170138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 4.08 13.67 3.93 3.97 0 28510.40 03:30:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 4.06 14.45 3.93 3.96 0 20075.04 03:30:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.53 15.91 3.95 3.96 0 3965.04 03:30:17 m : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.739376 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.564288 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.564288 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : DepthEnvelope -- Measured altitude 14.564288 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,170148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.564288 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.564288 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.564288 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.564288 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 15.534028 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,170149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.64 1.14 13.76 3.95 3.98 0 28510.20 03:30:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.77 2.87 14.45 3.94 3.97 0 20074.73 03:30:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170155.00,,,,,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,170156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.22 15.91 3.96 3.97 0 3964.86 03:30:27 m : AshtechGps::processRecord() - $GPGGA,170157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,170158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 4.23 13.76 3.95 3.98 0 28509.85 03:30:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 5.28 14.35 3.94 3.97 0 20074.43 03:30:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.84 15.91 3.96 3.97 0 3964.35 03:30:37 m : AshtechGps::processRecord() - $GPGGA,170207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.950000 : AshtechGps::processRecord() - $GPGGA,170208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170209.00,,,,,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,170210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.82 13.57 3.93 3.96 0 28509.55 03:30:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 4.20 14.35 3.93 3.96 0 20073.96 03:30:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.32 15.82 3.94 3.96 0 3964.02 03:30:47 m : AshtechGps::processRecord() - $GPGGA,170217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170219.00,,,,,0,00,,,M,,M,,*44 : 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,170220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.56 13.67 3.93 3.96 0 28509.17 03:30:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170223.00,,,,,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,170224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 3.88 14.35 3.93 3.96 0 20073.66 03:30:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.15 15.82 3.94 3.96 0 3963.56 03:30:57 m : AshtechGps::processRecord() - $GPGGA,170227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 3.33 13.67 3.93 3.97 0 28508.91 03:31:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 3.73 14.35 3.93 3.96 0 20073.25 03:31:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.22 15.82 3.95 3.96 0 3963.26 03:31:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,170238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.63 13.57 3.93 3.97 0 28508.53 03:31:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.16 14.25 3.93 3.96 0 20072.95 03:31:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.58 4.29 15.82 3.95 3.96 0 3962.80 03:31:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,170248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,170252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.56 3.33 13.57 3.93 3.96 0 28508.27 03:31:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.77 14.25 3.93 3.96 0 20072.54 03:31:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.15 15.72 3.95 3.96 0 3962.50 03:31:27 m : AshtechGps::processRecord() - $GPGGA,170257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.48 3.71 13.57 3.93 3.96 0 28507.88 03:31:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 3.84 14.25 3.93 3.96 0 20072.27 03:31:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170305.00,,,,,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,170306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.39 15.72 3.95 3.96 0 3962.04 03:31:37 m : AshtechGps::processRecord() - $GPGGA,170307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.936667 : AshtechGps::processRecord() - $GPGGA,170308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 4.19 13.57 3.93 3.96 0 28507.60 03:31:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.38 14.25 3.93 3.96 0 20071.81 03:31:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.84 15.72 3.94 3.96 0 3961.69 03:31:47 m : AshtechGps::processRecord() - $GPGGA,170317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 4.08 13.57 3.93 3.96 0 28507.16 03:31:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 5.28 14.25 3.93 3.96 0 20071.46 03:31:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.98 15.72 3.94 3.96 0 3961.17 03:31:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170329.00,,,,,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,170330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.78 13.57 3.93 3.96 0 28506.88 03:32:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170333.00,,,,,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,170334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 4.24 14.25 3.92 3.96 0 20070.98 03:32:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170336.00,,,,,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: $c1q0 d- 31.58 4.70 15.72 3.94 3.96 0 3960.83 03:32:07 m : AshtechGps::processRecord() - $GPGGA,170337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170340.00,,,,,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,170341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.97 13.57 3.93 3.96 0 28506.45 03:32:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170343.00,,,,,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,170344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 4.34 14.35 3.92 3.96 0 20070.67 03:32:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.94 15.72 3.94 3.96 0 3960.28 03:32:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170350.00,,,,,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,170351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.78 13.67 3.93 3.96 0 28506.17 03:32:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.38 14.35 3.93 3.96 0 20070.23 03:32:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.74 15.72 3.94 3.96 0 3959.95 03:32:27 m : AshtechGps::processRecord() - $GPGGA,170357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170401.00,,,,,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,170402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 3.93 13.57 3.93 3.96 0 28505.76 03:32:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.20 14.35 3.93 3.96 0 20069.92 03:32:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.53 15.82 3.94 3.96 0 3959.45 03:32:37 m : AshtechGps::processRecord() - $GPGGA,170407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170408.00,,,,,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,170409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170411.00,,,,,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,170412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.48 3.85 13.76 3.93 3.96 0 28505.49 03:32:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 5.39 14.35 3.93 3.96 0 20069.47 03:32:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170415.00,,,,,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,170416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.43 15.82 3.94 3.96 0 3959.13 03:32:47 m : AshtechGps::processRecord() - $GPGGA,170417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170418.00,,,,,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,170419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 4.00 13.57 3.93 3.96 0 28505.08 03:32:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,170423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.34 14.35 3.93 3.96 0 20069.17 03:32:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.54 4.64 15.82 3.94 3.96 0 3958.62 03:32:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,170430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.162691 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.162691 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.162691 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.162691 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.162691 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.162691 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.162691 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.025732 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.025732 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.025732 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.025732 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.025732 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.48 3.82 13.67 3.93 3.96 0 28504.81 03:33:03 m : DepthEnvelope -- Measured altitude 13.025732 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.025732 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.950488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.896239 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.77 0.96 14.35 3.93 3.96 0 20068.75 03:33:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.69 1.57 15.82 3.94 3.96 0 3958.34 03:33:07 m : AshtechGps::processRecord() - $GPGGA,170437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.63 13.57 3.93 3.96 0 28504.58 03:33:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170443.00,,,,,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,170444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 4.27 14.35 3.93 3.96 0 20068.59 03:33:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.58 4.87 15.82 3.94 3.96 0 3957.98 03:33:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 4.08 13.57 3.93 3.96 0 28504.29 03:33:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.74 14.35 3.92 3.96 0 20068.13 03:33:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.57 15.82 3.94 3.96 0 3957.64 03:33:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.59 13.57 3.93 3.96 0 28503.89 03:33:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 5.03 14.25 3.92 3.96 0 20067.86 03:33:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.57 15.72 3.94 3.96 0 3957.15 03:33:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.52 3.59 13.57 3.93 3.96 0 28503.63 03:33:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.98 14.35 3.93 3.96 0 20067.44 03:33:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.58 4.36 15.82 3.94 3.96 0 3956.84 03:33:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 3.48 13.57 3.93 3.96 0 28503.22 03:33:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.95 14.25 3.93 3.96 0 20067.17 03:33:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170525.00,,,,,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,170526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.26 15.82 3.94 3.96 0 3956.36 03:33:57 m : AshtechGps::processRecord() - $GPGGA,170527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.44 13.57 3.93 3.96 0 28502.97 03:34:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.09 14.25 3.93 3.96 0 20066.76 03:34:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.22 15.72 3.94 3.96 0 3956.05 03:34:07 m : AshtechGps::processRecord() - $GPGGA,170537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.52 3.37 13.57 3.93 3.96 0 28502.59 03:34:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.16 14.25 3.93 3.96 0 20066.50 03:34:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.53 15.72 3.94 3.96 0 3955.56 03:34:17 m : AshtechGps::processRecord() - $GPGGA,170547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.933333 : AshtechGps::processRecord() - $GPGGA,170548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 4.08 13.57 3.93 3.96 0 28502.32 03:34:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170553.00,,,,,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,170554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.70 14.25 3.92 3.96 0 20066.04 03:34:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 5.05 15.72 3.94 3.96 0 3955.22 03:34:27 m : AshtechGps::processRecord() - $GPGGA,170557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.85 13.57 3.93 3.96 0 28501.87 03:34:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.27 14.25 3.92 3.96 0 20065.73 03:34:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.60 15.72 3.94 3.96 0 3954.65 03:34:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,170608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.97 13.57 3.93 3.96 0 28501.57 03:34:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.24 14.25 3.92 3.96 0 20065.27 03:34:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 5.08 15.72 3.94 3.95 0 3954.31 03:34:47 m : AshtechGps::processRecord() - $GPGGA,170617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 3.67 13.47 3.93 3.96 0 28501.16 03:34:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.24 14.25 3.92 3.96 0 20064.93 03:34:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.58 4.87 15.72 3.94 3.95 0 3953.81 03:34:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.48 3.97 13.67 3.92 3.96 0 28500.88 03:35:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 5.06 14.25 3.92 3.96 0 20064.49 03:35:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170635.00,,,,,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,170636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.87 15.72 3.94 3.96 0 3953.46 03:35:07 m : AshtechGps::processRecord() - $GPGGA,170637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,170638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.97 13.57 3.92 3.96 0 28500.46 03:35:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 5.06 14.35 3.92 3.96 0 20064.19 03:35:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.74 15.72 3.94 3.96 0 3952.95 03:35:17 m : AshtechGps::processRecord() - $GPGGA,170647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,170648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 4.04 13.57 3.93 3.96 0 28500.18 03:35:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.42 14.35 3.92 3.96 0 20063.74 03:35:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.64 15.72 3.94 3.96 0 3952.61 03:35:27 m : AshtechGps::processRecord() - $GPGGA,170657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.78 13.67 3.93 3.96 0 28499.77 03:35:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170703.00,,,,,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,170704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 4.20 14.35 3.92 3.96 0 20063.42 03:35:35 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.94 15.82 3.94 3.96 0 3952.11 03:35:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.48 3.82 13.57 3.93 3.96 0 28499.49 03:35:43 m : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.655896 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.369776 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.369776 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.369776 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.369776 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.369776 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.369776 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.369776 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 2.69 14.35 3.92 3.96 0 20062.99 03:35:45 m : DepthEnvelope -- Measured altitude 14.805902 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.805902 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.805902 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.805902 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.805902 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.805902 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.805902 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,170716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.564737 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 1.51 15.72 3.94 3.96 0 3951.79 03:35:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.56 2.74 13.57 3.93 3.96 0 28499.23 03:35:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.91 14.35 3.92 3.96 0 20062.87 03:35:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.84 15.82 3.94 3.96 0 3951.46 03:35:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.48 3.67 13.67 3.92 3.96 0 28498.95 03:36:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.34 14.25 3.92 3.96 0 20062.43 03:36:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.60 15.82 3.94 3.96 0 3951.13 03:36:07 m : AshtechGps::processRecord() - $GPGGA,170737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.48 3.56 13.57 3.92 3.96 0 28498.56 03:36:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 3.98 14.25 3.92 3.96 0 20062.12 03:36:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170745.00,,,,,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,170746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.53 15.72 3.94 3.96 0 3950.65 03:36:17 m : AshtechGps::processRecord() - $GPGGA,170747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,170748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.67 13.57 3.93 3.96 0 28498.30 03:36:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.66 4.02 14.25 3.92 3.96 0 20061.68 03:36:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.36 15.82 3.94 3.96 0 3950.29 03:36:27 m : AshtechGps::processRecord() - $GPGGA,170757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.41 13.57 3.93 3.96 0 28497.92 03:36:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 3.80 14.25 3.92 3.96 0 20061.40 03:36:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.43 15.82 3.94 3.96 0 3949.81 03:36:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.52 13.47 3.93 3.96 0 28497.68 03:36:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170813.00,,,,,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,170814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 3.98 14.25 3.92 3.96 0 20060.97 03:36:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.43 15.72 3.94 3.96 0 3949.49 03:36:47 m : AshtechGps::processRecord() - $GPGGA,170817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.52 13.57 3.93 3.96 0 28497.31 03:36:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 3.91 14.16 3.92 3.96 0 20060.68 03:36:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.22 15.72 3.94 3.96 0 3949.03 03:36:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.71 13.57 3.93 3.96 0 28497.07 03:37:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.45 14.16 3.92 3.96 0 20060.22 03:37:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.51 4.84 15.72 3.94 3.96 0 3948.72 03:37:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,170838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170841.00,,,,,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,170842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 3.97 13.57 3.93 3.96 0 28496.64 03:37:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.34 14.16 3.92 3.96 0 20059.91 03:37:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.84 15.62 3.94 3.96 0 3948.19 03:37:17 m : AshtechGps::processRecord() - $GPGGA,170847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170848.00,,,,,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,170849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170851.00,,,,,0,00,,,M,,M,,*42 : 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,170852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.52 13.57 3.92 3.96 0 28496.32 03:37:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.52 14.25 3.92 3.96 0 20059.43 03:37:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170855.00,,,,,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,170856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.51 4.91 15.62 3.94 3.95 0 3947.86 03:37:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170858.00,,,,,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,170859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.78 13.57 3.92 3.96 0 28495.87 03:37:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.42 14.25 3.92 3.96 0 20059.13 03:37:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170905.00,,,,,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,170906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.67 15.72 3.94 3.95 0 3947.36 03:37:37 m : AshtechGps::processRecord() - $GPGGA,170907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,170908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170909.00,,,,,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,170910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.89 13.47 3.92 3.96 0 28495.59 03:37:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.74 14.25 3.92 3.96 0 20058.64 03:37:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170916.00,,,,,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: $c1q0 d- 31.51 4.60 15.72 3.94 3.95 0 3947.02 03:37:47 m : AshtechGps::processRecord() - $GPGGA,170917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,170918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170919.00,,,,,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,170920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.93 13.57 3.92 3.96 0 28495.19 03:37:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170923.00,,,,,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,170924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.31 14.35 3.92 3.96 0 20058.32 03:37:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.67 15.72 3.94 3.95 0 3946.54 03:37:57 m : AshtechGps::processRecord() - $GPGGA,170927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,170928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.82 13.67 3.93 3.96 0 28494.93 03:38:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.34 14.35 3.92 3.96 0 20057.88 03:38:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.64 15.72 3.94 3.95 0 3946.20 03:38:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.63 13.57 3.93 3.96 0 28494.52 03:38:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.42 14.25 3.92 3.96 0 20057.59 03:38:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.84 15.72 3.94 3.95 0 3945.72 03:38:17 m : AshtechGps::processRecord() - $GPGGA,170947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,170948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 3.82 13.57 3.92 3.96 0 28494.26 03:38:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.09 14.35 3.92 3.95 0 20057.14 03:38:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.43 15.72 3.94 3.96 0 3945.39 03:38:27 m : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,170957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,170958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,170959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 4.56 13.57 3.92 3.96 0 28493.85 03:38:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.13 14.35 3.92 3.95 0 20056.84 03:38:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171005.00,,,,,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,171006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.58 4.53 15.82 3.94 3.96 0 3944.91 03:38:37 m : AshtechGps::processRecord() - $GPGGA,171007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.75 13.67 3.92 3.96 0 28493.59 03:38:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.95 14.25 3.92 3.95 0 20056.38 03:38:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.67 15.82 3.94 3.96 0 3944.59 03:38:47 m : AshtechGps::processRecord() - $GPGGA,171017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.97 13.57 3.92 3.96 0 28493.23 03:38:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 3.88 14.25 3.92 3.95 0 20056.10 03:38:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.32 15.72 3.94 3.96 0 3944.13 03:38:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171029.00,,,,,0,00,,,M,,M,,*44 : 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,171030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.48 13.57 3.92 3.96 0 28492.93 03:39:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171033.00,,,,,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,171034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.02 14.25 3.92 3.96 0 20055.68 03:39:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.54 4.32 15.72 3.94 3.95 0 3943.82 03:39:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.41 13.47 3.92 3.96 0 28492.56 03:39:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.13 14.25 3.92 3.96 0 20055.41 03:39:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.32 15.72 3.94 3.95 0 3943.36 03:39:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.41 13.57 3.92 3.96 0 28492.31 03:39:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.62 14.25 3.92 3.96 0 20054.94 03:39:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.12 15.72 3.94 3.96 0 3943.06 03:39:27 m : AshtechGps::processRecord() - $GPGGA,171057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 3.41 13.47 3.92 3.96 0 28491.95 03:39:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.85 14.16 3.92 3.96 0 20054.67 03:39:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.51 4.94 15.72 3.94 3.96 0 3942.61 03:39:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.19 13.47 3.92 3.96 0 28491.68 03:39:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.56 14.25 3.92 3.95 0 20054.23 03:39:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171115.00,,,,,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,171116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.51 4.81 15.62 3.94 3.95 0 3942.26 03:39:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.26 13.47 3.92 3.96 0 28491.21 03:39:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.52 14.16 3.92 3.95 0 20053.86 03:39:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.81 15.62 3.94 3.95 0 3941.73 03:39:57 m : AshtechGps::processRecord() - $GPGGA,171127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.93 13.47 3.92 3.96 0 28490.93 03:40:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 5.10 14.25 3.92 3.95 0 20053.35 03:40:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.94 15.62 3.94 3.95 0 3941.37 03:40:07 m : AshtechGps::processRecord() - $GPGGA,171137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074898.4, 598618.9), reached at t = 7104.19 (wplog) : Vehicle Position is error is (0.6, 0.0) : LayeredControl::execute() -- (t = 7104.193330) Behavior waypoint_yoyo:1503206 has changed to state Finished : LayeredControl - sending BehaviorFinished:1503206 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,171140.00,,,,,0,00,,,M,,M,,*4A : 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,171141.00,,,,,0,00,,,M,,M,,*4B : 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,171142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.12 13.57 3.92 3.96 0 28490.50 03:40:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171143.00,,,,,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,171144.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.62 4.42 14.25 3.92 3.95 0 20053.03 03:40:15 m : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - stack now contains 37 behaviors : Waypoint Initialization: Begin waypoint control at t= 7109.97 (wplog) The current location (N,E) = 4074897.8 , 598610.2 (wplog) The next waypoint = 4078781.4 , 598573.8 (wplog) The bearing to the next w.p. is 359.5 Degrees. : LayeredControl::execute() -- (t = 7109.982933) Behavior waypoint_yoyo:1524605 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1524605 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.94 15.72 3.94 3.95 0 3940.84 03:40:17 m : AshtechGps::processRecord() - $GPGGA,171147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171149.00,,,,,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,171150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.85 13.47 3.92 3.96 0 28490.19 03:40:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171153.00,,,,,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,171154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.24 14.25 3.92 3.95 0 20052.58 03:40:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.60 15.72 3.93 3.95 0 3940.49 03:40:27 m : AshtechGps::processRecord() - $GPGGA,171157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 4.12 13.57 3.92 3.96 0 28489.76 03:40:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.31 14.35 3.92 3.95 0 20052.26 03:40:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.43 4.91 15.72 3.93 3.95 0 3939.99 03:40:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 4.19 13.57 3.92 3.96 0 28489.48 03:40:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.74 14.25 3.92 3.95 0 20051.79 03:40:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.47 5.05 15.72 3.94 3.95 0 3939.64 03:40:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.12 13.57 3.92 3.96 0 28489.04 03:40:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.63 14.25 3.92 3.95 0 20051.48 03:40:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.51 4.74 15.72 3.94 3.95 0 3939.10 03:40:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.00 13.67 3.92 3.96 0 28488.76 03:41:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.20 14.25 3.92 3.95 0 20051.00 03:41:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.77 15.72 3.94 3.95 0 3938.76 03:41:07 m : AshtechGps::processRecord() - $GPGGA,171237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171238.00,,,,,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,171239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.67 13.57 3.92 3.96 0 28488.34 03:41:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 31.62 4.06 14.25 3.92 3.95 0 20050.69 03:41:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171246.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.84 15.62 3.94 3.95 0 3938.25 03:41:17 m : AshtechGps::processRecord() - $GPGGA,171247.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171250.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.555973 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.555973 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.555973 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.555973 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.44 5.08 13.57 3.92 3.96 0 28488.07 03:41:23 m : DepthEnvelope -- Measured altitude 13.555973 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.555973 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.555973 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.841549 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.62 4.13 14.25 3.92 3.95 0 20050.24 03:41:25 m : DepthEnvelope -- altitude 15.550712 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.66 1.37 15.82 3.94 3.95 0 3937.91 03:41:27 m : AshtechGps::processRecord() - $GPGGA,171257.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171258.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171259.00,,,,,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,171300.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171301.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 3.48 13.67 3.92 3.96 0 28487.79 03:41:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171303.00,,,,,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,171304.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.27 14.25 3.92 3.95 0 20050.08 03:41:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171305.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.51 4.70 15.72 3.94 3.95 0 3937.57 03:41:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171308.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171311.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.85 13.67 3.92 3.96 0 28487.52 03:41:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.13 14.25 3.92 3.95 0 20049.64 03:41:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171315.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.36 15.72 3.94 3.95 0 3937.26 03:41:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171318.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171319.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.48 13.57 3.92 3.96 0 28487.14 03:41:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.77 14.25 3.92 3.95 0 20049.37 03:41:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171325.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171326.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.46 15.72 3.94 3.95 0 3936.82 03:41:57 m : AshtechGps::processRecord() - $GPGGA,171327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171328.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171329.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171332.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.00 13.47 3.92 3.96 0 28486.90 03:42:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171333.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.77 14.25 3.92 3.95 0 20048.97 03:42:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171335.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171336.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 4.39 15.72 3.94 3.95 0 3936.50 03:42:07 m : AshtechGps::processRecord() - $GPGGA,171337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171338.00,,,,,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,171339.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171340.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171341.00,,,,,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,171342.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.97 13.47 3.92 3.96 0 28486.53 03:42:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171343.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.98 14.25 3.92 3.95 0 20048.71 03:42:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,171346.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.54 4.22 15.62 3.94 3.95 0 3936.06 03:42:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171348.00,,,,,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,171349.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171350.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.56 13.47 3.92 3.96 0 28486.23 03:42:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171353.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.88 14.16 3.92 3.95 0 20048.30 03:42:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171355.00,,,,,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,171356.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.19 15.72 3.94 3.95 0 3935.77 03:42:27 m : AshtechGps::processRecord() - $GPGGA,171357.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171359.00,,,,,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,171400.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171401.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.59 13.57 3.92 3.96 0 28485.81 03:42:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171403.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171404.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 3.84 14.16 3.92 3.95 0 20048.03 03:42:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.57 15.62 3.94 3.95 0 3935.32 03:42:37 m : AshtechGps::processRecord() - $GPGGA,171407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171409.00,,,,,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,171410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.59 13.47 3.92 3.96 0 28485.56 03:42:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171413.00,,,,,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,171414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.13 14.06 3.92 3.95 0 20047.60 03:42:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171416.00,,,,,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: $c1q0 d- 31.47 4.70 15.62 3.94 3.95 0 3935.00 03:42:47 m : AshtechGps::processRecord() - $GPGGA,171417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171420.00,,,,,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,171421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.00 13.47 3.92 3.96 0 28485.13 03:42:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171423.00,,,,,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,171424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 4.38 14.16 3.92 3.95 0 20047.30 03:42:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171426.00,,,,,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: $c1q0 d- 31.47 5.05 15.62 3.94 3.95 0 3934.48 03:42:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.12 13.37 3.92 3.95 0 28484.85 03:43:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.45 14.25 3.91 3.94 0 20046.83 03:43:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 5.22 15.52 3.94 3.95 0 3934.13 03:43:07 m : AshtechGps::processRecord() - $GPGGA,171437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.15 13.57 3.92 3.95 0 28484.41 03:43:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.63 14.25 3.91 3.94 0 20046.50 03:43:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.94 15.62 3.94 3.95 0 3933.61 03:43:17 m : AshtechGps::processRecord() - $GPGGA,171447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.30 13.47 3.92 3.96 0 28484.13 03:43:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.38 14.25 3.92 3.95 0 20046.03 03:43:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171455.00,,,,,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,171456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.47 4.87 15.62 3.94 3.95 0 3933.27 03:43:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171458.00,,,,,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,171459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.04 13.47 3.92 3.96 0 28483.69 03:43:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 4.42 14.25 3.92 3.95 0 20045.72 03:43:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.87 15.62 3.94 3.95 0 3932.75 03:43:37 m : AshtechGps::processRecord() - $GPGGA,171507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.12 13.57 3.92 3.95 0 28483.40 03:43:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.49 14.25 3.92 3.95 0 20045.24 03:43:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 5.15 15.62 3.93 3.95 0 3932.40 03:43:47 m : AshtechGps::processRecord() - $GPGGA,171517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171519.00,,,,,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,171520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.23 13.57 3.92 3.95 0 28482.96 03:43:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171523.00,,,,,0,00,,,M,,M,,*4B : 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,171524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.34 14.35 3.92 3.95 0 20044.92 03:43:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.87 15.62 3.93 3.95 0 3931.86 03:43:57 m : AshtechGps::processRecord() - $GPGGA,171527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.00 13.57 3.92 3.95 0 28482.68 03:44:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.45 14.35 3.92 3.95 0 20044.47 03:44:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171535.00,,,,,0,00,,,M,,M,,*4C : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 5.08 15.72 3.93 3.95 0 3931.49 03:44:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171538.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171539.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.52 13.57 3.92 3.95 0 28482.23 03:44:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.694584 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.694584 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.694584 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.694584 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 4.60 14.35 3.92 3.95 0 20044.15 03:44:15 m : DepthEnvelope -- Measured altitude 14.694584 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.694584 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.694584 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.43 4.77 15.72 3.93 3.95 0 3930.95 03:44:17 m : DepthEnvelope -- Measured altitude 14.211431 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 16.175362 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,171547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171548.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171549.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171552.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.48 2.78 13.57 3.94 3.97 0 28482.05 03:44:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 38 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 7358.975876) Behavior FireTheGulperAMC:1619277 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1619277 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Gulper::fireGulper - cmd is $081Fff : BluefinBatt Reply: $c0q0 d- 31.62 4.09 14.35 3.94 3.97 0 20043.80 03:44:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : LayeredControl::execute() -- (t = 7360.595765) Behavior FireTheGulperAMC:1619277 has changed to state Finished : LayeredControl - sending BehaviorFinished:1619277 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171556.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.67 15.72 3.96 3.96 0 3930.77 03:44:27 m : AshtechGps::processRecord() - $GPGGA,171557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion FireTheGulperAMC after pos 2 : DynoLayeredControl::insert - stack now contains 39 behaviors : The FireTheGulperAMC Behavior has executed. FIRING THE GULPER NOW. : LayeredControl::execute() -- (t = 7363.165589) Behavior FireTheGulperAMC:1619246 has changed to state Active : LayeredControl - FireTheGulperAMC BehaviorStarted:1619246 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Gulper::fireGulper - cmd is $091Fff : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171559.00,,,,,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=1.75 : LayeredControl::execute() -- (t = 7364.795477) Behavior FireTheGulperAMC:1619246 has changed to state Finished : LayeredControl - sending BehaviorFinished:1619246 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171600.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 3.89 13.57 3.94 3.97 0 28481.66 03:44:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171603.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.09 14.25 3.94 3.97 0 20043.50 03:44:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171605.00,,,,,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,171606.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.43 5.77 15.72 3.96 3.96 0 3930.29 03:44:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171608.00,,,,,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,171609.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171610.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.56 13.57 3.92 3.96 0 28481.40 03:44:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171613.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 3.95 14.25 3.92 3.95 0 20043.08 03:44:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.47 4.43 15.72 3.94 3.95 0 3929.98 03:44:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171617.00,,,,,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=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171620.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171621.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.33 13.47 3.92 3.96 0 28481.02 03:44:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171624.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 3.80 14.16 3.92 3.95 0 20042.81 03:44:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.46 15.72 3.94 3.95 0 3929.55 03:44:57 m : AshtechGps::processRecord() - $GPGGA,171627.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171628.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171629.00,,,,,0,00,,,M,,M,,*42 : 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,171630.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171631.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 3.52 13.47 3.92 3.96 0 28480.79 03:45:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171633.00,,,,,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,171634.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 3.84 14.16 3.92 3.95 0 20042.41 03:45:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171635.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.81 15.62 3.94 3.95 0 3929.23 03:45:07 m : AshtechGps::processRecord() - $GPGGA,171637.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171638.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171641.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.75 13.47 3.92 3.96 0 28480.42 03:45:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.06 14.16 3.92 3.95 0 20042.15 03:45:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171645.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.36 15.62 3.94 3.95 0 3928.78 03:45:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171648.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171649.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.56 13.37 3.92 3.96 0 28480.17 03:45:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 31.58 3.88 14.16 3.92 3.95 0 20041.70 03:45:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.43 4.32 15.62 3.94 3.95 0 3928.48 03:45:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,171702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 3.93 13.47 3.92 3.96 0 28479.77 03:45:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.45 14.06 3.92 3.95 0 20041.44 03:45:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.87 15.62 3.94 3.95 0 3928.01 03:45:37 m : AshtechGps::processRecord() - $GPGGA,171707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171708.00,,,,,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,171709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171711.00,,,,,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,171712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 3.78 13.37 3.92 3.95 0 28479.49 03:45:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.31 14.06 3.92 3.95 0 20040.98 03:45:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171715.00,,,,,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,171716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.94 15.62 3.93 3.95 0 3927.69 03:45:47 m : AshtechGps::processRecord() - $GPGGA,171717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171718.00,,,,,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,171719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.15 13.37 3.92 3.95 0 28479.08 03:45:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.38 14.16 3.92 3.95 0 20040.67 03:45:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171725.00,,,,,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,171726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.70 15.62 3.93 3.95 0 3927.18 03:45:57 m : AshtechGps::processRecord() - $GPGGA,171727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171729.00,,,,,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,171730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.67 13.37 3.92 3.95 0 28478.81 03:46:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.24 14.16 3.91 3.94 0 20040.21 03:46:05 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171736.00,,,,,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: $c1q0 d- 31.43 5.01 15.52 3.93 3.95 0 3926.81 03:46:07 m : AshtechGps::processRecord() - $GPGGA,171737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,171738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171739.00,,,,,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,171740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.00 13.47 3.92 3.95 0 28478.37 03:46:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171743.00,,,,,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,171744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.34 14.16 3.91 3.94 0 20039.89 03:46:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171746.00,,,,,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: $c1q0 d- 31.47 4.67 15.52 3.93 3.95 0 3926.32 03:46:17 m : AshtechGps::processRecord() - $GPGGA,171747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,171748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171750.00,,,,,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,171751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.12 13.47 3.92 3.95 0 28478.11 03:46:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171753.00,,,,,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,171754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.45 14.25 3.92 3.95 0 20039.44 03:46:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171756.00,,,,,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: $c1q0 d- 31.47 4.94 15.52 3.93 3.95 0 3925.99 03:46:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171800.00,,,,,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,171801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.97 13.47 3.92 3.95 0 28477.70 03:46:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.24 14.25 3.92 3.95 0 20039.15 03:46:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.64 15.62 3.93 3.95 0 3925.49 03:46:37 m : AshtechGps::processRecord() - $GPGGA,171807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171811.00,,,,,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,171812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 4.26 13.47 3.92 3.95 0 28477.43 03:46:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.27 14.25 3.91 3.95 0 20038.70 03:46:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.74 15.52 3.93 3.94 0 3925.15 03:46:47 m : AshtechGps::processRecord() - $GPGGA,171817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171818.00,,,,,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,171819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171821.00,,,,,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,171822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.37 3.97 13.47 3.92 3.95 0 28476.98 03:46:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171823.00,,,,,0,00,,,M,,M,,*46 : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.16 14.16 3.91 3.95 0 20038.40 03:46:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171825.00,,,,,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,171826.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.67 15.62 3.93 3.94 0 3924.66 03:46:57 m : AshtechGps::processRecord() - $GPGGA,171827.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,171828.00,,,,,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,171829.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.866318 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.866318 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.866318 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.866318 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.866318 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.866318 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.866318 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.974242 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.974242 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.974242 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.974242 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.37 4.00 13.47 3.92 3.95 0 28476.70 03:47:03 m : DepthEnvelope -- Measured altitude 12.974242 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.974242 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.974242 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.785981 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.69 1.21 14.25 3.92 3.95 0 20037.97 03:47:05 m : DepthEnvelope -- altitude 16.653141 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171835.00,,,,,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,171836.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.62 1.44 15.52 3.93 3.95 0 3924.36 03:47:07 m : AshtechGps::processRecord() - $GPGGA,171837.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171839.00,,,,,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,171840.00,,,,,0,00,,,M,,M,,*43 : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171841.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.33 13.47 3.92 3.95 0 28476.46 03:47:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171843.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171844.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.27 14.25 3.92 3.95 0 20037.82 03:47:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171846.00,,,,,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: $c1q0 d- 31.43 4.77 15.62 3.93 3.95 0 3924.00 03:47:17 m : AshtechGps::processRecord() - $GPGGA,171847.00,,,,,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=1.75 : StatePublisher: Updating state vector : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171848.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171849.00,,,,,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,171850.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.810527 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.810527 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.810527 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.810527 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.810527 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.810527 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,171852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.810527 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 25.164598 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $aaq0 d- 31.37 3.82 13.47 3.92 3.95 0 28476.19 03:47:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171853.00,,,,,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,171854.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.69 2.66 14.25 3.92 3.95 0 20037.38 03:47:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171855.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171856.00,,,,,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: $c1q0 d- 31.54 2.54 15.52 3.93 3.95 0 3923.69 03:47:27 m : AshtechGps::processRecord() - $GPGGA,171857.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171858.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171900.00,,,,,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,171901.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.75 13.47 3.92 3.95 0 28475.88 03:47:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171903.00,,,,,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,171904.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.13 14.16 3.92 3.95 0 20037.16 03:47:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171905.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171906.00,,,,,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: $c1q0 d- 31.47 4.60 15.62 3.93 3.95 0 3923.28 03:47:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171908.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171909.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171910.00,,,,,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,171911.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.93 13.47 3.92 3.95 0 28475.60 03:47:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,171913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.98 14.16 3.92 3.95 0 20036.73 03:47:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171915.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171916.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.51 4.64 15.62 3.93 3.94 0 3922.97 03:47:47 m : AshtechGps::processRecord() - $GPGGA,171917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : AshtechGps::processRecord() - $GPGGA,171918.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171919.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,171921.00,,,,,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,171922.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 3.67 13.47 3.92 3.95 0 28475.20 03:47:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 7568.001556) Behavior waypoint_yoyo:1524605 has changed to state Finished : LayeredControl - sending BehaviorFinished:1524605 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : AshtechGps::processRecord() - $GPGGA,171923.00,,,,,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,171924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.98 14.06 3.92 3.95 0 20036.39 03:47:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171925.00,,,,,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,171926.00,,,,,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 : DynoLayeredControlServer insertBehaves : BluefinBatt Reply: $c1q0 d- 31.51 4.67 15.52 3.93 3.94 0 3922.51 03:47:57 m : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 40 behaviors : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 7571.971285) Behavior ascend:1675423 has changed to state Active : LayeredControl - ascend BehaviorStarted:1675423 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171928.00,,,,,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,171929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.44 2.55 13.37 3.92 3.96 0 28474.96 03:48:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 2.69 14.06 3.92 3.95 0 20036.00 03:48:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171935.00,,,,,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,171936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 31.51 3.16 15.52 3.94 3.95 0 3922.25 03:48:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171938.00,,,,,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,171939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.44 2.44 13.37 3.92 3.96 0 28474.66 03:48:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.62 2.73 14.06 3.92 3.95 0 20035.81 03:48:15 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c1q0 d- 31.51 3.67 15.52 3.94 3.95 0 3921.92 03:48:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,171949.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171951.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 2.44 13.37 3.92 3.96 0 28474.50 03:48:23 m : LayeredControl::execute() -- (t = 7597.599529) Behavior ascend:1675423 has changed to state Finished : LayeredControl - sending BehaviorFinished:1675423 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,171953.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,171954.00,,,,,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 : DynoLayeredControlServer insertBehaves : BluefinBatt Reply: $c0q0 d- 31.62 3.05 14.06 3.92 3.96 0 20035.52 03:48:25 m : StatePublisher: Updating state vector : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - stack now contains 41 behaviors : LayeredControl::execute() -- (t = 7599.979366) Behavior getgps:1683339 has changed to state Active : LayeredControl - getgps BehaviorStarted:1683339 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,171955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,171956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 3.57 15.52 3.94 3.95 0 3921.69 03:48:27 m : AshtechGps::processRecord() - $GPGGA,171957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : AshtechGps::processRecord() - $GPGGA,171958.00,,,,,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,171959.00,,,,,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,172000.00,3649.25716,N,12153.56852,W,1,07,1.3,-3.26,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 1 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,172001.00,3649.25826,N,12153.56840,W,1,07,1.3,-2.53,M,-32.59,M,,*7F : 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,172002.00,3649.25871,N,12153.56840,W,1,07,1.3,-2.47,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 3 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.52 1.55 13.28 3.92 3.96 0 28474.31 03:48:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172003.00,3649.25932,N,12153.56811,W,1,07,1.3,-2.72,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 4 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172004.00,3649.25975,N,12153.56847,W,1,07,1.3,-3.49,M,-32.59,M,,*70 : 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 : BluefinBatt Reply: $c0q0 d- 31.73 1.03 14.06 3.92 3.96 0 20035.40 03:48:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172005.00,3649.26029,N,12153.56878,W,1,07,1.3,-3.39,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,172006.00,3649.26077,N,12153.56913,W,1,07,1.3,-3.03,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 7 of 30 needed : BluefinBatt Reply: $c1q0 d- 31.62 2.47 15.52 3.94 3.95 0 3921.46 03:48:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172007.00,3649.26155,N,12153.56919,W,1,07,1.3,-2.83,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 8 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 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172008.00,,,,,0,04,5.7,,M,,M,,*6C : 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,172009.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172010.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172011.00,3649.26156,N,12153.56976,W,1,06,1.7,-1.67,M,-32.59,M,,*76 : 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,172012.00,3649.26253,N,12153.56973,W,1,07,1.3,-2.95,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.52 0.85 13.37 3.93 3.96 0 28474.25 03:48:43 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,172013.00,3649.26278,N,12153.56985,W,1,07,1.3,-2.57,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 11 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172014.00,3649.26335,N,12153.57014,W,1,07,1.3,-4.24,M,-32.59,M,,*7F : 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 : BluefinBatt Reply: $c0q0 d- 31.73 0.93 14.06 3.94 3.96 0 20035.29 03:48:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172015.00,3649.26362,N,12153.57048,W,1,07,1.3,-3.87,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,172016.00,3649.26367,N,12153.57073,W,1,07,1.3,-3.31,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 14 of 30 needed : BluefinBatt Reply: $c1q0 d- 31.62 1.78 15.42 3.95 3.96 0 3921.33 03:48:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172017.00,3649.26365,N,12153.57093,W,1,07,1.3,-3.05,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 15 of 30 needed : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172018.00,3649.26386,N,12153.57100,W,1,07,1.3,-2.97,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 16 of 30 needed : Isus::select() timeout : 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,172019.00,3649.26397,N,12153.57113,W,1,07,1.3,-3.09,M,-32.59,M,,*74 : 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,172020.00,3649.26411,N,12153.57128,W,1,07,1.3,-2.96,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 18 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172021.00,3649.26411,N,12153.57157,W,1,07,1.3,-3.11,M,-32.59,M,,*7F : 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,172022.00,3649.26430,N,12153.57157,W,1,07,1.3,-2.68,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.56 0.66 13.37 3.93 3.96 0 28474.17 03:48:53 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,172023.00,3649.26432,N,12153.57147,W,1,07,1.3,-2.85,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172024.00,3649.26457,N,12153.57169,W,1,07,1.3,-3.63,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 22 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.73 1.14 14.06 3.94 3.96 0 20035.22 03:48:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172025.00,3649.26460,N,12153.57218,W,1,07,1.3,-3.73,M,-32.59,M,,*71 : 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,172026.00,3649.26472,N,12153.57254,W,1,07,1.3,-3.44,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 24 of 30 needed : BluefinBatt Reply: $c1q0 d- 31.58 1.51 15.42 3.95 3.96 0 3921.15 03:48:57 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,172027.00,3649.26486,N,12153.57261,W,1,07,1.3,-3.13,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 25 of 30 needed : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172028.00,3649.26494,N,12153.57262,W,1,07,1.3,-3.09,M,-32.59,M,,*77 : 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,172029.00,3649.26504,N,12153.57282,W,1,07,1.3,-3.49,M,-32.59,M,,*74 : 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,172030.00,3649.26491,N,12153.57280,W,1,07,1.3,-3.51,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 28 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172031.00,3649.26498,N,12153.57300,W,1,07,1.3,-3.88,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,172032.00,3649.26482,N,12153.57310,W,1,07,1.3,-3.71,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 7637.196816) Behavior getgps:1683339 has changed to state Finished : LayeredControl - sending BehaviorFinished:1683339 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- 31.52 0.81 13.28 3.93 3.97 0 28474.11 03:49:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172033.00,3649.26490,N,12153.57313,W,1,07,1.3,-3.43,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,172034.00,3649.26477,N,12153.57307,W,1,07,1.3,-3.59,M,-32.59,M,,*70 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 42 behaviors : LayeredControl::execute() -- (t = 7639.606651) Behavior setpoint:1693580 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1693580 msg to VcsServer : BluefinBatt Reply: $c0q0 d- 31.73 0.93 14.06 3.94 3.96 0 20035.10 03:49:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172035.00,3649.26487,N,12153.57313,W,1,08,1.2,-4.46,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,172036.00,3649.26485,N,12153.57342,W,1,08,1.2,-4.66,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: $c1q0 d- 31.62 1.57 15.42 3.95 3.96 0 3921.03 03:49:07 m : AshtechGps::processRecord() - $GPGGA,172037.00,3649.26482,N,12153.57370,W,1,08,1.2,-4.42,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : AshtechGps::processRecord() - $GPGGA,172038.00,3649.26481,N,12153.57393,W,1,08,1.2,-4.12,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,172039.00,3649.26479,N,12153.57386,W,1,08,1.2,-3.50,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,172040.00,3649.26484,N,12153.57361,W,1,08,1.2,-3.20,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172041.00,3649.26473,N,12153.57334,W,1,08,1.2,-3.56,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172042.00,3649.26465,N,12153.57333,W,1,08,1.2,-4.21,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- 31.52 1.26 13.37 3.93 3.97 0 28474.03 03:49:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172043.00,3649.26454,N,12153.57362,W,1,08,1.2,-4.69,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,172044.00,3649.26453,N,12153.57389,W,1,08,1.2,-4.35,M,-32.59,M,,*74 : BluefinBatt Reply: $c0q0 d- 31.73 1.14 14.06 3.94 3.96 0 20035.02 03:49:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172045.00,3649.26452,N,12153.57400,W,1,08,1.2,-4.14,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,172046.00,3649.26447,N,12153.57409,W,1,08,1.2,-4.00,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: $c1q0 d- 31.62 1.57 15.42 3.95 3.96 0 3920.85 03:49:17 m : AshtechGps::processRecord() - $GPGGA,172047.00,3649.26438,N,12153.57415,W,1,08,1.2,-3.77,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.930000, mean min cell voltage 3.940000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172048.00,3649.26429,N,12153.57397,W,1,08,1.2,-3.51,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172049.00,3649.26424,N,12153.57378,W,1,08,1.2,-3.66,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,172050.00,3649.26419,N,12153.57377,W,1,08,1.2,-4.20,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 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,172051.00,3649.26420,N,12153.57404,W,1,08,1.2,-4.46,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172052.00,3649.26414,N,12153.57412,W,1,08,1.2,-4.14,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- 31.56 0.81 13.28 3.94 3.97 0 28473.97 03:49:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172053.00,3649.26414,N,12153.57409,W,1,08,1.2,-4.00,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,172054.00,3649.26403,N,12153.57388,W,1,08,1.2,-3.87,M,-32.59,M,,*7F : BluefinBatt Reply: $c0q0 d- 31.73 1.07 14.06 3.94 3.97 0 20034.92 03:49:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172055.00,3649.26407,N,12153.57389,W,1,08,1.2,-4.40,M,-32.59,M,,*77 : LayeredControl::execute() -- (t = 7660.795200) Behavior setpoint:1693580 has changed to state Finished : LayeredControl - sending BehaviorFinished:1693580 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,172056.00,3649.26404,N,12153.57406,W,1,08,1.2,-4.81,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 31.62 1.51 15.42 3.96 3.96 0 3920.74 03:49:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172057.00,3649.26397,N,12153.57442,W,1,08,1.2,-4.71,M,-32.59,M,,*79 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 43 behaviors : LayeredControl::execute() -- (t = 7662.765065) Behavior setpoint:1699881 has changed to state Active : LayeredControl - setpoint BehaviorStarted:1699881 msg to VcsServer : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172058.00,3649.26387,N,12153.57436,W,1,08,1.2,-3.95,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172059.00,3649.26387,N,12153.57398,W,1,08,1.2,-3.44,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 44 behaviors : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172100.00,3649.26373,N,12153.57377,W,1,08,1.2,-3.85,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172101.00,3649.26363,N,12153.57379,W,1,08,1.2,-4.26,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172102.00,3649.26357,N,12153.57405,W,1,08,1.2,-4.41,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 31.44 2.44 13.37 3.94 3.97 0 28473.87 03:49:33 m : LayeredControl::execute() -- (t = 7667.794720) Behavior setpoint:1699881 has changed to state Finished : LayeredControl - sending BehaviorFinished:1699881 msg to VcsServer : LayeredControl::execute() -- (t = 7667.794720) Behavior descend:1699839 has changed to state Active : LayeredControl - descend BehaviorStarted:1699839 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172103.00,3649.26348,N,12153.57425,W,1,08,1.2,-4.29,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172104.00,3649.26340,N,12153.57446,W,1,08,1.2,-3.93,M,-32.59,M,,*7B : BluefinBatt Reply: $c0q0 d- 31.58 4.24 14.06 3.94 3.97 0 20034.83 03:49:35 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172105.00,3649.26322,N,12153.57460,W,1,08,1.2,-3.80,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172106.00,3649.26303,N,12153.57472,W,1,08,1.2,-3.99,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 3.16 15.42 3.96 3.96 0 3920.44 03:49:37 m : AshtechGps::processRecord() - $GPGGA,172107.00,3649.26288,N,12153.57502,W,1,08,1.2,-3.95,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.940000, mean min cell voltage 3.946667 : AshtechGps::processRecord() - $GPGGA,172108.00,3649.26263,N,12153.57529,W,1,08,1.2,-3.86,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172109.00,3649.26246,N,12153.57561,W,1,08,1.2,-4.05,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172110.00,3649.26223,N,12153.57586,W,1,08,1.2,-4.06,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172111.00,3649.26210,N,12153.57635,W,1,08,1.2,-4.31,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172112.00,3649.26202,N,12153.57703,W,1,08,1.2,-4.06,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 31.41 3.41 13.28 3.92 3.96 0 28473.60 03:49:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172113.00,3649.26191,N,12153.57767,W,1,08,1.2,-3.85,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172114.00,3649.26176,N,12153.57817,W,1,08,1.2,-3.40,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.92 13.96 3.92 3.95 0 20034.39 03:49:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172115.00,3649.26161,N,12153.57853,W,1,08,1.2,-3.35,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172116.00,3649.26156,N,12153.57893,W,1,08,1.2,-3.57,M,-32.59,M,,*71 : BluefinBatt Reply: $c1q0 d- 31.47 3.91 15.42 3.94 3.95 0 3920.14 03:49:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172117.00,3649.26128,N,12153.57947,W,1,08,1.2,-4.27,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172118.00,3649.26146,N,12153.58015,W,1,08,1.2,-4.49,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172119.00,3649.26154,N,12153.58108,W,1,08,1.2,-4.54,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172120.00,3649.26176,N,12153.58193,W,1,08,1.2,-4.42,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172121.00,3649.26200,N,12153.58267,W,1,08,1.2,-3.89,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172122.00,3649.26228,N,12153.58325,W,1,08,1.2,-3.54,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 31.41 3.33 13.28 3.92 3.96 0 28473.26 03:49:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172123.00,3649.26258,N,12153.58351,W,1,08,1.2,-3.30,M,-32.59,M,,*71 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172124.00,3649.26297,N,12153.58379,W,1,08,1.2,-3.57,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.09 13.96 3.92 3.95 0 20034.14 03:49:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172125.00,3649.26345,N,12153.58411,W,1,08,1.2,-3.72,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172126.00,3649.26394,N,12153.58459,W,1,08,1.2,-4.07,M,-32.59,M,,*79 : BluefinBatt Reply: $c1q0 d- 31.51 4.05 15.42 3.94 3.95 0 3919.65 03:49:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172127.00,3649.26452,N,12153.58493,W,1,08,1.2,-4.27,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172128.00,3649.26516,N,12153.58520,W,1,08,1.2,-4.40,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172129.00,3649.26577,N,12153.58561,W,1,08,1.2,-4.60,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172130.00,3649.26635,N,12153.58570,W,1,08,1.2,-4.26,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172131.00,3649.26695,N,12153.58583,W,1,08,1.2,-3.93,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172132.00,3649.26766,N,12153.58553,W,1,08,1.2,-3.26,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 31.48 2.00 13.28 3.92 3.95 0 28472.97 03:50:03 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172133.00,,,,,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,172134.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 3.37 13.96 3.91 3.95 0 20033.71 03:50:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172135.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.23 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172136.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.43 5.46 15.33 3.93 3.94 0 3919.37 03:50:07 m : Descend::execute() - Descend terminating on depth 2.156204 > 2.000000 at time 7701.792391 : LayeredControl::execute() -- (t = 7701.792391) Behavior descend:1699839 has changed to state Finished : LayeredControl - sending BehaviorFinished:1699839 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172137.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172138.00,,,,,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 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 45 behaviors : Waypoint Initialization: Begin waypoint control at t= 7703.78 (wplog) The current location (N,E) = 4075607.4 , 598721.6 (wplog) The next waypoint = 4078781.4 , 598573.8 (wplog) The bearing to the next w.p. is 357.3 Degrees. : LayeredControl::execute() -- (t = 7703.782255) Behavior waypoint_yoyo:1710976 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:1710976 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,172139.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172140.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172141.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172142.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.04 13.37 3.92 3.95 0 28472.60 03:50:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172143.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172144.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.42 14.06 3.91 3.95 0 20033.39 03:50:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172145.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172146.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.81 15.33 3.93 3.94 0 3918.80 03:50:17 m : AshtechGps::processRecord() - $GPGGA,172147.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172148.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172149.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172150.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172151.00,,,,,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,172152.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.33 4.41 13.28 3.91 3.95 0 28472.30 03:50:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172153.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172154.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 4.70 14.06 3.91 3.94 0 20032.91 03:50:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172155.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172156.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.47 4.91 15.42 3.93 3.94 0 3918.41 03:50:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172157.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172158.00,,,,,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,172159.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172200.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172201.00,,,,,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,172202.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.37 4.19 13.37 3.91 3.95 0 28471.86 03:50:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172203.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172204.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.27 14.06 3.91 3.94 0 20032.59 03:50:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172205.00,,,,,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,172206.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.43 4.84 15.33 3.93 3.94 0 3917.89 03:50:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172207.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172208.00,,,,,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,172209.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172210.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172211.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172212.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.93 13.37 3.92 3.95 0 28471.57 03:50:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172213.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172214.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.49 14.06 3.91 3.94 0 20032.13 03:50:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172215.00,,,,,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,172216.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.47 4.74 15.42 3.93 3.94 0 3917.55 03:50:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172217.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172218.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172219.00,,,,,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,172220.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172221.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172222.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.19 13.47 3.92 3.95 0 28471.09 03:50:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172223.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172224.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 4.52 14.16 3.91 3.94 0 20031.81 03:50:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172225.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172226.00,,,,,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: $c1q0 d- 31.43 4.91 15.42 3.93 3.94 0 3917.03 03:50:57 m : AshtechGps::processRecord() - $GPGGA,172227.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172228.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172229.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172230.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172231.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172232.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 4.26 13.37 3.92 3.95 0 28470.79 03:51:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172233.00,,,,,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,172234.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 5.75 14.06 3.91 3.94 0 20031.34 03:51:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172235.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172236.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.43 5.15 15.52 3.93 3.94 0 3916.68 03:51:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172237.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172238.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172239.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172240.00,,,,,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,172241.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172242.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.04 13.47 3.92 3.95 0 28470.35 03:51:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172243.00,,,,,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,172244.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 4.88 14.16 3.91 3.94 0 20031.01 03:51:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172245.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172246.00,,,,,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: $c1q0 d- 31.47 4.91 15.52 3.93 3.94 0 3916.15 03:51:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172247.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172248.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172249.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172250.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172251.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172252.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.23 13.47 3.92 3.95 0 28470.05 03:51:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172253.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172254.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 4.31 14.16 3.91 3.94 0 20030.55 03:51:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172255.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172256.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.77 15.52 3.93 3.94 0 3915.81 03:51:27 m : AshtechGps::processRecord() - $GPGGA,172257.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172258.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172259.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172300.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172301.00,,,,,0,00,,,M,,M,,*4E : 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,172302.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.37 4.00 13.47 3.92 3.95 0 28469.58 03:51:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172303.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172304.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.92 14.16 3.91 3.94 0 20030.23 03:51:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172305.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172306.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.47 4.74 15.52 3.93 3.94 0 3915.30 03:51:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172307.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172308.00,,,,,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,172309.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172310.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172311.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.526813 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172312.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.352427 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.352427 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.41 3.82 13.47 3.92 3.95 0 28469.30 03:51:43 m : DepthEnvelope -- Measured altitude 13.352427 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.352427 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.352427 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172313.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.352427 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.352427 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.347268 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172314.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.69 1.00 14.25 3.91 3.94 0 20029.80 03:51:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172315.00,,,,,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,172316.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.54 1.78 15.62 3.93 3.94 0 3915.03 03:51:47 m : AshtechGps::processRecord() - $GPGGA,172317.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172318.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172319.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172320.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172321.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172322.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.75 13.47 3.92 3.95 0 28469.05 03:51:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172323.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172324.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.56 14.25 3.91 3.94 0 20029.60 03:51:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172325.00,,,,,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,172326.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.91 15.62 3.93 3.94 0 3914.62 03:51:57 m : AshtechGps::processRecord() - $GPGGA,172327.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172328.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172329.00,,,,,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,172330.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172331.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172332.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.97 13.47 3.92 3.95 0 28468.76 03:52:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172333.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172334.00,,,,,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=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.27 14.16 3.91 3.94 0 20029.15 03:52:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172335.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172336.00,,,,,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: $c1q0 d- 31.47 4.60 15.62 3.93 3.94 0 3914.28 03:52:07 m : AshtechGps::processRecord() - $GPGGA,172337.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172338.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172339.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172340.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172341.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172342.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.67 13.57 3.92 3.95 0 28468.35 03:52:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172343.00,,,,,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,172344.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 3.95 14.16 3.91 3.94 0 20028.87 03:52:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172345.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172346.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.60 15.62 3.93 3.94 0 3913.84 03:52:17 m : AshtechGps::processRecord() - $GPGGA,172347.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,172348.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172349.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172350.00,,,,,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,172351.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172352.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.67 13.47 3.91 3.95 0 28468.10 03:52:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172353.00,,,,,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,172354.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 3.84 14.16 3.91 3.94 0 20028.42 03:52:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172355.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172356.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.47 4.60 15.52 3.93 3.94 0 3913.53 03:52:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172357.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172358.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172359.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172400.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172401.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172402.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 3.71 13.47 3.91 3.95 0 28467.71 03:52:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172403.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172404.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.88 14.06 3.91 3.94 0 20028.15 03:52:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172405.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172406.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.77 15.52 3.93 3.94 0 3913.03 03:52:37 m : AshtechGps::processRecord() - $GPGGA,172407.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172408.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172409.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172410.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172411.00,,,,,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,172412.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 3.67 13.47 3.92 3.95 0 28467.46 03:52:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172413.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172414.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.88 14.06 3.92 3.95 0 20027.74 03:52:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172415.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172416.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.39 15.62 3.93 3.94 0 3912.69 03:52:47 m : AshtechGps::processRecord() - $GPGGA,172417.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172418.00,,,,,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,172419.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172420.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172421.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172422.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.33 4.26 13.47 3.92 3.95 0 28467.09 03:52:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172423.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172424.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 4.02 14.06 3.92 3.95 0 20027.47 03:52:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172425.00,,,,,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,172426.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.43 4.53 15.52 3.93 3.94 0 3912.22 03:52:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172427.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.923333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172428.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172429.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172430.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172431.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172432.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.04 13.47 3.91 3.95 0 28466.78 03:53:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172433.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172434.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.52 14.06 3.91 3.94 0 20027.02 03:53:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172435.00,,,,,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,172436.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.39 5.01 15.52 3.93 3.94 0 3911.88 03:53:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172437.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172438.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172439.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,172440.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172441.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172442.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.15 13.47 3.91 3.95 0 28466.30 03:53:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172443.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172444.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.63 14.16 3.91 3.94 0 20026.71 03:53:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172445.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172446.00,,,,,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: $c1q0 d- 31.43 4.84 15.42 3.93 3.94 0 3911.36 03:53:17 m : AshtechGps::processRecord() - $GPGGA,172447.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172448.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172449.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172450.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172451.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172452.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 4.15 13.47 3.91 3.95 0 28466.02 03:53:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172453.00,,,,,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,172454.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.60 14.16 3.91 3.94 0 20026.24 03:53:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172455.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172456.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.43 5.05 15.52 3.93 3.94 0 3911.01 03:53:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172457.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172458.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172459.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172500.00,,,,,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,172501.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172502.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.23 13.57 3.91 3.95 0 28465.57 03:53:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172503.00,,,,,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,172504.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.70 14.25 3.91 3.94 0 20025.92 03:53:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172505.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172506.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.84 15.52 3.93 3.94 0 3910.47 03:53:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172507.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172508.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172509.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172510.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172511.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172512.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.19 13.57 3.91 3.95 0 28465.28 03:53:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172513.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172514.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.45 14.25 3.91 3.94 0 20025.38 03:53:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172515.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172516.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.77 15.52 3.92 3.94 0 3910.11 03:53:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172517.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172518.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172519.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172520.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172521.00,,,,,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,172522.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.37 3.97 13.57 3.91 3.95 0 28464.84 03:53:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172523.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172524.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.60 14.25 3.91 3.94 0 20025.08 03:53:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172525.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172526.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 5.08 15.52 3.92 3.94 0 3909.60 03:53:57 m : AshtechGps::processRecord() - $GPGGA,172527.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172528.00,,,,,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,172529.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172530.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172531.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172532.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 4.34 13.57 3.91 3.94 0 28464.55 03:54:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172533.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172534.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 4.45 14.25 3.91 3.94 0 20024.54 03:54:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172535.00,,,,,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,172536.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 5.12 15.52 3.93 3.94 0 3909.24 03:54:07 m : AshtechGps::processRecord() - $GPGGA,172537.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172538.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172539.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172540.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,172541.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172542.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.08 13.57 3.91 3.94 0 28464.09 03:54:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172543.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172544.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.88 14.25 3.91 3.94 0 20024.21 03:54:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172545.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172546.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.67 15.62 3.93 3.94 0 3908.72 03:54:17 m : AshtechGps::processRecord() - $GPGGA,172547.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : DepthEnvelope -- Measured altitude 13.298546 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172548.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.298546 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.298546 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.298546 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.298546 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.298546 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172549.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.298546 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172550.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.543359 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.308645 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172551.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.308645 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.308645 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.308645 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.308645 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.308645 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172552.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.308645 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.168629 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $aaq0 d- 31.52 0.66 13.57 3.91 3.95 0 28463.82 03:54:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172553.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172554.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.66 1.21 14.25 3.91 3.94 0 20023.83 03:54:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172555.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172556.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.51 2.85 15.72 3.93 3.94 0 3908.50 03:54:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172557.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172558.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172559.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172600.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172601.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172602.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.78 13.57 3.91 3.95 0 28463.56 03:54:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172603.00,,,,,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,172604.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 4.31 14.25 3.91 3.94 0 20023.60 03:54:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172605.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172606.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.98 15.72 3.93 3.94 0 3908.05 03:54:37 m : AshtechGps::processRecord() - $GPGGA,172607.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172608.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172609.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172610.00,,,,,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,172611.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172612.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.85 13.57 3.91 3.95 0 28463.29 03:54:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172613.00,,,,,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,172614.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 4.06 14.25 3.91 3.94 0 20023.14 03:54:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172615.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172616.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 5.15 15.62 3.93 3.94 0 3907.71 03:54:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172617.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172618.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172619.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172620.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172621.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172622.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.12 13.47 3.91 3.95 0 28462.91 03:54:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172623.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172624.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.91 14.25 3.91 3.94 0 20022.86 03:54:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172625.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172626.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.47 4.36 15.62 3.93 3.94 0 3907.22 03:54:57 m : AshtechGps::processRecord() - $GPGGA,172627.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172628.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172629.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172630.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172631.00,,,,,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,172632.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.37 3.48 13.47 3.91 3.95 0 28462.63 03:55:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172633.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172634.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 4.06 14.16 3.91 3.94 0 20022.45 03:55:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172635.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172636.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.39 4.15 15.62 3.93 3.94 0 3906.91 03:55:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172637.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172638.00,,,,,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,172639.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172640.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172641.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172642.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 3.52 13.37 3.91 3.95 0 28462.25 03:55:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172643.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172644.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 3.84 14.16 3.91 3.94 0 20022.18 03:55:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172645.00,,,,,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,172646.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.43 15.52 3.93 3.94 0 3906.44 03:55:17 m : AshtechGps::processRecord() - $GPGGA,172647.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172648.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172649.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172650.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172651.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172652.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.67 13.37 3.91 3.95 0 28461.99 03:55:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172653.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172654.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.95 14.06 3.91 3.94 0 20021.76 03:55:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172655.00,,,,,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,172656.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.39 4.36 15.52 3.93 3.94 0 3906.12 03:55:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172657.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172658.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172659.00,,,,,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,172700.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172701.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172702.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.41 13.37 3.91 3.95 0 28461.61 03:55:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172703.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172704.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 3.91 14.06 3.91 3.94 0 20021.44 03:55:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172705.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172706.00,,,,,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: $c1q0 d- 31.43 5.01 15.52 3.93 3.94 0 3905.64 03:55:37 m : AshtechGps::processRecord() - $GPGGA,172707.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172708.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172709.00,,,,,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,172710.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172711.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172712.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.19 13.37 3.91 3.94 0 28461.33 03:55:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172713.00,,,,,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,172714.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.27 14.06 3.91 3.94 0 20020.98 03:55:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172715.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172716.00,,,,,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: $c1q0 d- 31.39 5.01 15.52 3.92 3.94 0 3905.27 03:55:47 m : AshtechGps::processRecord() - $GPGGA,172717.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,172718.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172719.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172720.00,,,,,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,172721.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172722.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.15 13.37 3.91 3.94 0 28460.90 03:55:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172723.00,,,,,0,00,,,M,,M,,*4A : 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,172724.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 4.38 14.16 3.91 3.94 0 20020.66 03:55:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172725.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172726.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.43 4.77 15.52 3.92 3.94 0 3904.75 03:55:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172727.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172728.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172729.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172730.00,,,,,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,172731.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172732.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.23 13.28 3.91 3.94 0 28460.60 03:56:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172733.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172734.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 4.13 14.16 3.91 3.94 0 20020.19 03:56:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172735.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172736.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.67 15.52 3.92 3.94 0 3904.41 03:56:07 m : AshtechGps::processRecord() - $GPGGA,172737.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,172738.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172739.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172740.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172741.00,,,,,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,172742.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.33 3.82 13.37 3.91 3.94 0 28460.18 03:56:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172743.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172744.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.27 14.16 3.91 3.94 0 20019.86 03:56:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172745.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172746.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.57 15.52 3.92 3.94 0 3903.91 03:56:17 m : AshtechGps::processRecord() - $GPGGA,172747.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172748.00,,,,,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,172749.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172750.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172751.00,,,,,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,172752.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.33 4.19 13.37 3.91 3.94 0 28459.91 03:56:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172753.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172754.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.67 14.16 3.91 3.94 0 20019.40 03:56:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172755.00,,,,,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,172756.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.43 4.94 15.52 3.92 3.94 0 3903.58 03:56:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172757.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172758.00,,,,,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,172759.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172800.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172801.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172802.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.89 13.37 3.91 3.94 0 28459.48 03:56:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172803.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172804.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.24 14.25 3.91 3.94 0 20019.09 03:56:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172805.00,,,,,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,172806.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.91 15.52 3.92 3.94 0 3903.04 03:56:37 m : AshtechGps::processRecord() - $GPGGA,172807.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,172808.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172809.00,,,,,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,172810.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172811.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172812.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.71 13.47 3.91 3.95 0 28459.21 03:56:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172813.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172814.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.20 14.16 3.91 3.94 0 20018.64 03:56:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172815.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172816.00,,,,,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: $c1q0 d- 31.39 4.87 15.52 3.92 3.94 0 3902.73 03:56:47 m : AshtechGps::processRecord() - $GPGGA,172817.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,172818.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172819.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172820.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172821.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172822.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.08 13.47 3.91 3.95 0 28458.74 03:56:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172823.00,,,,,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,172824.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.20 14.25 3.91 3.94 0 20018.33 03:56:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172825.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172826.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.57 15.52 3.92 3.94 0 3902.22 03:56:57 m : AshtechGps::processRecord() - $GPGGA,172827.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 13.651109 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.651109 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.651109 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : DepthEnvelope -- Measured altitude 13.651109 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172828.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.651109 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.651109 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.651109 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.283944 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.283944 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172829.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.283944 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.283944 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.283944 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.283944 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.283944 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,172830.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,172831.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.854345 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.693633 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172832.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.48 0.92 13.47 3.91 3.95 0 28458.48 03:57:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172833.00,,,,,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,172834.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.62 1.25 14.25 3.91 3.94 0 20017.95 03:57:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172835.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172836.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 3.02 15.62 3.93 3.94 0 3902.01 03:57:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172837.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172838.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172839.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172840.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172841.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172842.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 4.15 13.47 3.91 3.95 0 28458.22 03:57:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172843.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172844.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.34 14.25 3.91 3.94 0 20017.70 03:57:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172845.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172846.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.98 15.62 3.93 3.94 0 3901.54 03:57:17 m : AshtechGps::processRecord() - $GPGGA,172847.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172848.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172849.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172850.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172851.00,,,,,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,172852.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.33 3.82 13.47 3.91 3.94 0 28457.94 03:57:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172853.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172854.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.09 14.16 3.91 3.94 0 20017.24 03:57:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172855.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172856.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.43 4.50 15.52 3.92 3.94 0 3901.20 03:57:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172857.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172858.00,,,,,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,172859.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172900.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172901.00,,,,,0,00,,,M,,M,,*44 : 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,172902.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.37 3.67 13.47 3.91 3.94 0 28457.55 03:57:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172903.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172904.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.88 14.16 3.91 3.94 0 20016.96 03:57:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172905.00,,,,,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,172906.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.91 15.52 3.92 3.94 0 3900.74 03:57:37 m : AshtechGps::processRecord() - $GPGGA,172907.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,172908.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172909.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172910.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172911.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172912.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.71 13.47 3.91 3.94 0 28457.29 03:57:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172913.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172914.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.02 14.06 3.91 3.94 0 20016.53 03:57:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172915.00,,,,,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,172916.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.70 15.52 3.92 3.94 0 3900.42 03:57:47 m : AshtechGps::processRecord() - $GPGGA,172917.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,172918.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172919.00,,,,,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,172920.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172921.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172922.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.63 13.28 3.91 3.94 0 28456.92 03:57:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172923.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172924.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 3.91 14.06 3.91 3.94 0 20016.25 03:57:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172925.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172926.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.32 6.08 15.52 3.92 3.94 0 3899.95 03:57:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172927.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,172928.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172929.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172930.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172931.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172932.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.37 3.48 13.28 3.91 3.95 0 28456.66 03:58:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172933.00,,,,,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,172934.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.54 3.77 14.06 3.91 3.94 0 20015.83 03:58:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172935.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172936.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.22 15.52 3.93 3.94 0 3899.65 03:58:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172937.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172938.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172939.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172940.00,,,,,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,172941.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172942.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.93 13.37 3.91 3.95 0 28456.25 03:58:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172943.00,,,,,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,172944.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.42 13.96 3.91 3.94 0 20015.56 03:58:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172945.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172946.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 5.05 15.52 3.93 3.94 0 3899.17 03:58:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172947.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,172948.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172949.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172950.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172951.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172952.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.08 13.37 3.91 3.94 0 28455.96 03:58:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172953.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,172954.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.34 14.06 3.90 3.93 0 20015.09 03:58:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172955.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172956.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 4.91 15.52 3.92 3.94 0 3898.79 03:58:27 m : AshtechGps::processRecord() - $GPGGA,172957.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,172958.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,172959.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173000.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173001.00,,,,,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,173002.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.33 4.00 13.37 3.91 3.94 0 28455.49 03:58:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173003.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173004.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.42 14.06 3.90 3.93 0 20014.74 03:58:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173005.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173006.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.39 5.01 15.42 3.92 3.94 0 3898.25 03:58:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,173007.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173008.00,,,,,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,173009.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173010.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173011.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173012.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 4.19 13.37 3.91 3.94 0 28455.21 03:58:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173013.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173014.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 5.35 14.06 3.91 3.94 0 20014.24 03:58:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173015.00,,,,,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,173016.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 5.08 15.42 3.92 3.94 0 3897.91 03:58:47 m : AshtechGps::processRecord() - $GPGGA,173017.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173018.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173019.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173020.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173021.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173022.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.12 13.37 3.91 3.94 0 28454.77 03:58:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173023.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173024.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 5.96 14.16 3.91 3.94 0 20013.93 03:58:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173025.00,,,,,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,173026.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.39 4.98 15.52 3.92 3.94 0 3897.30 03:58:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173027.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173028.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173029.00,,,,,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,173030.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173031.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173032.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.97 13.37 3.91 3.94 0 28454.47 03:59:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173033.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173034.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.34 14.16 3.90 3.94 0 20013.44 03:59:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173035.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173036.00,,,,,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: $c1q0 d- 31.39 4.77 15.52 3.92 3.94 0 3896.96 03:59:07 m : AshtechGps::processRecord() - $GPGGA,173037.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173038.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173039.00,,,,,0,00,,,M,,M,,*47 : 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,173040.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173041.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173042.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.89 13.47 3.91 3.94 0 28454.05 03:59:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173043.00,,,,,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,173044.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.42 14.16 3.90 3.94 0 20013.14 03:59:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173045.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173046.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.94 15.52 3.92 3.94 0 3896.46 03:59:17 m : AshtechGps::processRecord() - $GPGGA,173047.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173048.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173049.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173050.00,,,,,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,173051.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173052.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.78 13.47 3.91 3.94 0 28453.78 03:59:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173053.00,,,,,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,173054.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.06 14.16 3.91 3.94 0 20012.69 03:59:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173055.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173056.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c1q0 d- 31.39 4.70 15.52 3.92 3.94 0 3896.13 03:59:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173057.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173058.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173059.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173100.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173101.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173102.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.63 13.47 3.91 3.94 0 28453.38 03:59:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173103.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.364441 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.364441 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.364441 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173104.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.364441 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.364441 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.364441 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.50 3.98 14.25 3.91 3.94 0 20012.40 03:59:35 m : DepthEnvelope -- Measured altitude 13.364441 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.864018 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173105.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.864018 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.864018 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.864018 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.864018 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.864018 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173106.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.864018 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.01 15.62 3.92 3.94 0 3895.62 03:59:37 m : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173107.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.202117 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : DepthEnvelope -- altitude 16.135406 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,173108.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173109.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173110.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173111.00,,,,,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,173112.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.44 1.89 13.57 3.93 3.96 0 28453.22 03:59:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173113.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173114.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 3.41 14.16 3.92 3.96 0 20012.12 03:59:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173115.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173116.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 4.50 15.52 3.94 3.95 0 3895.46 03:59:47 m : AshtechGps::processRecord() - $GPGGA,173117.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173118.00,,,,,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,173119.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173120.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173121.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173122.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 4.26 13.47 3.93 3.96 0 28452.84 03:59:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173123.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173124.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.38 14.16 3.92 3.96 0 20011.82 03:59:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173125.00,,,,,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,173126.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.57 15.52 3.94 3.95 0 3894.95 03:59:57 m : AshtechGps::processRecord() - $GPGGA,173127.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.930000 : AshtechGps::processRecord() - $GPGGA,173128.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173129.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173130.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173131.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173132.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.75 13.37 3.91 3.94 0 28452.57 04:00:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173133.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173134.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 4.02 14.06 3.91 3.94 0 20011.36 04:00:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173135.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173136.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.39 4.53 15.62 3.92 3.94 0 3894.63 04:00:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173137.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173138.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173139.00,,,,,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,173140.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173141.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173142.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.56 13.37 3.91 3.94 0 28452.18 04:00:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173143.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173144.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.02 14.06 3.91 3.94 0 20011.06 04:00:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173145.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173146.00,,,,,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: $c1q0 d- 31.39 4.60 15.52 3.92 3.94 0 3894.17 04:00:17 m : AshtechGps::processRecord() - $GPGGA,173147.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173148.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173149.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173150.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173151.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173152.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.41 13.37 3.91 3.94 0 28451.94 04:00:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173153.00,,,,,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,173154.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 3.91 14.06 3.91 3.94 0 20010.65 04:00:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173155.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173156.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 4.50 15.52 3.92 3.94 0 3893.86 04:00:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173157.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173158.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173159.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173200.00,,,,,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,173201.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173202.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.56 13.37 3.91 3.94 0 28451.54 04:00:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173203.00,,,,,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,173204.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 3.95 14.06 3.91 3.94 0 20010.31 04:00:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173205.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173206.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.22 15.52 3.92 3.94 0 3893.40 04:00:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173207.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173208.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173209.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173210.00,,,,,0,00,,,M,,M,,*4E : 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,173211.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173212.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 3.37 13.37 3.91 3.94 0 28451.28 04:00:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173213.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173214.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.77 14.06 3.91 3.94 0 20009.89 04:00:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173215.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173216.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 4.50 15.52 3.92 3.94 0 3893.10 04:00:47 m : AshtechGps::processRecord() - $GPGGA,173217.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,173218.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173219.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173220.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173221.00,,,,,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,173222.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 5.41 13.37 3.91 3.94 0 28450.87 04:00:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173223.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173224.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.60 14.06 3.91 3.94 0 20009.59 04:00:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173225.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173226.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.36 4.84 15.42 3.92 3.94 0 3892.61 04:00:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173227.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173228.00,,,,,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,173229.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173230.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173231.00,,,,,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,173232.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 4.00 13.28 3.91 3.94 0 28450.58 04:01:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173233.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173234.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.24 14.06 3.90 3.94 0 20009.11 04:01:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173235.00,,,,,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,173236.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.36 4.98 15.42 3.92 3.93 0 3892.23 04:01:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173237.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173238.00,,,,,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,173239.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173240.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173241.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173242.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.08 13.28 3.91 3.94 0 28450.12 04:01:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173243.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173244.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.27 14.06 3.90 3.94 0 20008.80 04:01:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173245.00,,,,,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,173246.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.39 4.64 15.42 3.92 3.93 0 3891.72 04:01:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173247.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173248.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173249.00,,,,,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,173250.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173251.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173252.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.60 13.37 3.91 3.94 0 28449.82 04:01:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173253.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173254.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.52 14.16 3.90 3.93 0 20008.33 04:01:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173255.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173256.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 4.87 15.52 3.92 3.94 0 3891.37 04:01:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173257.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173258.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173259.00,,,,,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,173300.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173301.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173302.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.52 13.37 3.91 3.94 0 28449.40 04:01:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173303.00,,,,,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,173304.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.16 14.16 3.90 3.93 0 20008.03 04:01:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173305.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173306.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 5.50 15.42 3.92 3.94 0 3890.84 04:01:37 m : AshtechGps::processRecord() - $GPGGA,173307.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173308.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173309.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173310.00,,,,,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,173311.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173312.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.85 13.37 3.91 3.94 0 28449.10 04:01:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173313.00,,,,,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,173314.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.13 14.16 3.91 3.94 0 20007.57 04:01:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173315.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173316.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 4.46 15.42 3.92 3.94 0 3890.51 04:01:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173317.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173318.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173319.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173320.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173321.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173322.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.82 13.37 3.91 3.94 0 28448.69 04:01:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173323.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173324.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.20 14.25 3.91 3.94 0 20007.27 04:01:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173325.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173326.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.64 15.42 3.92 3.94 0 3890.02 04:01:57 m : AshtechGps::processRecord() - $GPGGA,173327.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173328.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173329.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173330.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173331.00,,,,,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,173332.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 4.15 13.37 3.91 3.94 0 28448.40 04:02:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173333.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173334.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.24 14.16 3.90 3.94 0 20006.81 04:02:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173335.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 13.276412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.276412 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.276412 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173336.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.276412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.276412 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.276412 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.276412 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.74 15.52 3.92 3.94 0 3889.68 04:02:07 m : DepthEnvelope -- Measured altitude 12.641815 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173337.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.641815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.641815 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : DepthEnvelope -- Measured altitude 12.641815 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173338.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.641815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173339.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.468901 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 16.674182 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,173340.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173341.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173342.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.44 0.92 13.47 3.91 3.94 0 28448.09 04:02:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173343.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173344.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.58 2.22 14.16 3.90 3.94 0 20006.63 04:02:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173345.00,,,,,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,173346.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 4.22 15.52 3.92 3.94 0 3889.33 04:02:17 m : AshtechGps::processRecord() - $GPGGA,173347.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173348.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173349.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173350.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173351.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173352.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.30 13.37 3.91 3.94 0 28447.82 04:02:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173353.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173354.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.38 14.16 3.91 3.94 0 20006.22 04:02:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173355.00,,,,,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,173356.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.84 15.52 3.92 3.94 0 3889.00 04:02:27 m : AshtechGps::processRecord() - $GPGGA,173357.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173358.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173359.00,,,,,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,173400.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173401.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173402.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.71 13.37 3.91 3.94 0 28447.41 04:02:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173403.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173404.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 4.06 14.06 3.91 3.94 0 20005.90 04:02:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173405.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173406.00,,,,,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: $c1q0 d- 31.39 4.53 15.52 3.92 3.94 0 3888.52 04:02:37 m : AshtechGps::processRecord() - $GPGGA,173407.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173408.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173409.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173410.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173411.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173412.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.71 13.28 3.91 3.94 0 28447.16 04:02:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173413.00,,,,,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,173414.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 3.98 14.06 3.91 3.94 0 20005.48 04:02:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173415.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173416.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.46 15.52 3.92 3.94 0 3888.21 04:02:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173417.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173418.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173419.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173420.00,,,,,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,173421.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173422.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.67 13.37 3.91 3.94 0 28446.76 04:02:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173423.00,,,,,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,173424.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.02 14.06 3.91 3.94 0 20005.19 04:02:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173425.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173426.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.32 4.64 15.52 3.92 3.94 0 3887.74 04:02:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173427.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,173428.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173429.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173430.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173431.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173432.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.75 13.37 3.91 3.94 0 28446.50 04:03:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173433.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173434.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.02 14.06 3.90 3.94 0 20004.78 04:03:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173435.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173436.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.22 15.52 3.92 3.94 0 3887.43 04:03:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173437.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173438.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173439.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173440.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173441.00,,,,,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,173442.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 3.59 13.28 3.91 3.94 0 28446.12 04:03:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173443.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173444.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.50 3.95 14.06 3.90 3.94 0 20004.49 04:03:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173445.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173446.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.39 15.42 3.92 3.94 0 3886.98 04:03:17 m : AshtechGps::processRecord() - $GPGGA,173447.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173448.00,,,,,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,173449.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173450.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173451.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173452.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 4.04 13.28 3.91 3.94 0 28445.87 04:03:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173453.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173454.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.60 13.96 3.90 3.94 0 20004.05 04:03:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173455.00,,,,,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,173456.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.84 15.42 3.92 3.94 0 3886.65 04:03:27 m : AshtechGps::processRecord() - $GPGGA,173457.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173458.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173459.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173500.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173501.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173502.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.12 13.37 3.91 3.94 0 28445.42 04:03:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173503.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173504.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.49 13.96 3.90 3.94 0 20003.73 04:03:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173505.00,,,,,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,173506.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.36 4.94 15.42 3.92 3.94 0 3886.13 04:03:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173507.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173508.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173509.00,,,,,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,173510.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173511.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173512.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.93 13.28 3.90 3.94 0 28445.14 04:03:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173513.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173514.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.45 14.06 3.90 3.93 0 20003.27 04:03:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173515.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173516.00,,,,,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: $c1q0 d- 31.32 4.94 15.42 3.92 3.93 0 3885.79 04:03:47 m : AshtechGps::processRecord() - $GPGGA,173517.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173518.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173519.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173520.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173521.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173522.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.23 13.28 3.90 3.94 0 28444.71 04:03:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173523.00,,,,,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,173524.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.31 14.06 3.90 3.93 0 20002.95 04:03:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173525.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173526.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.50 15.42 3.92 3.93 0 3885.26 04:03:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173527.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173528.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173529.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173530.00,,,,,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,173531.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173532.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.82 13.37 3.91 3.94 0 28444.42 04:04:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173533.00,,,,,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,173534.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.16 14.16 3.90 3.94 0 20002.50 04:04:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173535.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173536.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.74 15.42 3.92 3.93 0 3884.94 04:04:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173537.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173538.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173539.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173540.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173541.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173542.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.93 13.37 3.91 3.94 0 28444.00 04:04:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173543.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173544.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.24 14.16 3.90 3.94 0 20002.20 04:04:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173545.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173546.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.70 15.42 3.92 3.93 0 3884.44 04:04:17 m : AshtechGps::processRecord() - $GPGGA,173547.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173548.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173549.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173550.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173551.00,,,,,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,173552.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 4.56 13.37 3.90 3.94 0 28443.73 04:04:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173553.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173554.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.38 14.16 3.90 3.93 0 20001.73 04:04:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173555.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173556.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.32 4.77 15.42 3.92 3.93 0 3884.07 04:04:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173557.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173558.00,,,,,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,173559.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173600.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173601.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173602.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 3.93 13.37 3.90 3.94 0 28443.31 04:04:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173603.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173604.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.120878 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.120878 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.46 3.98 14.16 3.90 3.93 0 20001.42 04:04:35 m : DepthEnvelope -- Measured altitude 14.120878 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.120878 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,173605.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.120878 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.120878 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.120878 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.028742 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.028742 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173606.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.028742 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.028742 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.028742 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.39 4.26 15.42 3.92 3.93 0 3883.57 04:04:37 m : DepthEnvelope -- Measured altitude 13.028742 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.028742 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173607.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,173608.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343488 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.996294 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173609.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173610.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173611.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173612.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.41 1.63 13.47 3.92 3.96 0 28443.15 04:04:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173613.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173614.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.55 14.16 3.92 3.95 0 20001.16 04:04:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173615.00,,,,,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,173616.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.32 4.70 15.52 3.94 3.95 0 3883.41 04:04:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173617.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173618.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173619.00,,,,,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,173620.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173621.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173622.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.89 13.47 3.92 3.96 0 28442.80 04:04:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173623.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173624.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.27 14.16 3.92 3.95 0 20000.82 04:04:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173625.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173626.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.64 15.52 3.94 3.95 0 3882.91 04:04:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173627.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.920000, mean min cell voltage 3.926667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173628.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173629.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173630.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173631.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173632.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.97 13.37 3.91 3.94 0 28442.53 04:05:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173633.00,,,,,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,173634.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.27 14.06 3.90 3.93 0 20000.38 04:05:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173635.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173636.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 4.43 15.52 3.92 3.93 0 3882.58 04:05:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173637.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173638.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173639.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173640.00,,,,,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,173641.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173642.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.44 13.37 3.91 3.94 0 28442.15 04:05:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173643.00,,,,,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,173644.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.13 14.06 3.90 3.93 0 20000.11 04:05:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173645.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173646.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 4.39 15.52 3.92 3.93 0 3882.06 04:05:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173647.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173648.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173649.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173650.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173651.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173652.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.59 13.28 3.91 3.94 0 28441.90 04:05:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173653.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173654.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.20 14.06 3.90 3.94 0 19999.69 04:05:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173655.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173656.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 4.50 15.42 3.92 3.93 0 3881.75 04:05:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173657.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173658.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173659.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173700.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173701.00,,,,,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,173702.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 3.71 13.28 3.91 3.94 0 28441.53 04:05:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173703.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173704.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.02 13.96 3.90 3.94 0 19999.42 04:05:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173705.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173706.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.28 6.21 15.52 3.92 3.93 0 3881.23 04:05:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173707.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173708.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173709.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173710.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173711.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173712.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.29 3.59 13.28 3.91 3.94 0 28441.27 04:05:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173713.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173714.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 3.88 13.96 3.90 3.94 0 19999.00 04:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173715.00,,,,,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,173716.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 5.01 15.42 3.92 3.93 0 3880.92 04:05:47 m : AshtechGps::processRecord() - $GPGGA,173717.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173718.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173719.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173720.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173721.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173722.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.26 13.28 3.91 3.94 0 28440.85 04:05:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173723.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173724.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.56 13.96 3.90 3.94 0 19998.69 04:05:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173725.00,,,,,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,173726.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 5.15 15.33 3.92 3.93 0 3880.39 04:05:57 m : AshtechGps::processRecord() - $GPGGA,173727.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.910000 : AshtechGps::processRecord() - $GPGGA,173728.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173729.00,,,,,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,173730.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173731.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173732.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.08 13.37 3.90 3.94 0 28440.55 04:06:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173733.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173734.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.31 14.06 3.90 3.93 0 19998.16 04:06:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173735.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173736.00,,,,,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: $c1q0 d- 31.32 5.80 15.42 3.92 3.93 0 3880.03 04:06:07 m : AshtechGps::processRecord() - $GPGGA,173737.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173738.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173739.00,,,,,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,173740.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173741.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173742.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.12 13.37 3.90 3.94 0 28440.12 04:06:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173743.00,,,,,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,173744.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.63 14.06 3.90 3.93 0 19997.85 04:06:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,173745.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173746.00,,,,,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: $c1q0 d- 31.32 4.94 15.42 3.92 3.93 0 3879.51 04:06:17 m : AshtechGps::processRecord() - $GPGGA,173747.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173748.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173749.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173750.00,,,,,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,173751.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173752.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.85 13.37 3.90 3.94 0 28439.82 04:06:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173753.00,,,,,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,173754.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.38 14.16 3.90 3.93 0 19997.33 04:06:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173755.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173756.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.32 5.39 15.42 3.92 3.93 0 3879.17 04:06:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173757.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173758.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173759.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173800.00,,,,,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,173801.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173802.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.97 13.37 3.90 3.94 0 28439.41 04:06:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173803.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173804.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.67 14.16 3.90 3.93 0 19997.02 04:06:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173805.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173806.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 5.01 15.42 3.92 3.93 0 3878.64 04:06:37 m : AshtechGps::processRecord() - $GPGGA,173807.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173808.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173809.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173810.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173811.00,,,,,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,173812.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 3.85 13.37 3.90 3.94 0 28439.12 04:06:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173813.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173814.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.49 14.16 3.90 3.93 0 19996.55 04:06:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173815.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173816.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.98 15.52 3.91 3.93 0 3878.30 04:06:47 m : AshtechGps::processRecord() - $GPGGA,173817.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173818.00,,,,,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,173819.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173820.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173821.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173822.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 4.08 13.47 3.90 3.94 0 28438.70 04:06:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173823.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173824.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.63 14.25 3.90 3.93 0 19996.22 04:06:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173825.00,,,,,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,173826.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 5.12 15.52 3.91 3.93 0 3877.77 04:06:57 m : AshtechGps::processRecord() - $GPGGA,173827.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,173828.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173829.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173830.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173831.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173832.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.12 13.47 3.90 3.94 0 28438.41 04:07:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173833.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173834.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.52 14.16 3.90 3.93 0 19995.71 04:07:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173835.00,,,,,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,173836.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 4.77 15.52 3.92 3.93 0 3877.43 04:07:07 m : AshtechGps::processRecord() - $GPGGA,173837.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173838.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173839.00,,,,,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,173840.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173841.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173842.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.71 13.47 3.90 3.94 0 28438.01 04:07:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173843.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173844.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.09 14.16 3.90 3.93 0 19995.39 04:07:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173845.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173846.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 4.36 15.52 3.92 3.93 0 3876.96 04:07:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173847.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173848.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173849.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173850.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173851.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173852.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.56 13.37 3.90 3.94 0 28437.77 04:07:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173853.00,,,,,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,173854.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 4.02 14.06 3.90 3.93 0 19994.97 04:07:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173855.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173856.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.29 15.52 3.92 3.93 0 3876.61 04:07:27 m : AshtechGps::processRecord() - $GPGGA,173857.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173858.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173859.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173900.00,,,,,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,173901.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173902.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 4.78 13.37 3.90 3.94 0 28437.41 04:07:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173903.00,,,,,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,173904.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.02 14.06 3.90 3.93 0 19994.67 04:07:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173905.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173906.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 4.46 15.52 3.92 3.93 0 3876.14 04:07:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173907.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173908.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173909.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173910.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173911.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173912.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.67 13.37 3.90 3.94 0 28437.15 04:07:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173913.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173914.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.13 14.06 3.90 3.93 0 19994.25 04:07:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173915.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173916.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.32 4.43 15.42 3.92 3.93 0 3875.82 04:07:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173917.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173918.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173919.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173920.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173921.00,,,,,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,173922.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 3.67 13.28 3.90 3.94 0 28436.78 04:07:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173923.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173924.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.35 5.21 14.06 3.90 3.93 0 19993.98 04:07:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173925.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173926.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.84 15.42 3.92 3.93 0 3875.30 04:07:57 m : AshtechGps::processRecord() - $GPGGA,173927.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173928.00,,,,,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,173929.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173930.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173931.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173932.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 4.15 13.28 3.90 3.94 0 28436.50 04:08:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173933.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173934.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.45 13.96 3.89 3.93 0 19993.45 04:08:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173935.00,,,,,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,173936.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 5.80 15.42 3.91 3.93 0 3874.95 04:08:07 m : AshtechGps::processRecord() - $GPGGA,173937.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,173938.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173939.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173940.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173941.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173942.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.04 13.28 3.90 3.94 0 28436.09 04:08:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173943.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173944.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.42 13.96 3.89 3.93 0 19993.15 04:08:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173945.00,,,,,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,173946.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 5.60 15.42 3.91 3.93 0 3874.45 04:08:17 m : AshtechGps::processRecord() - $GPGGA,173947.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,173948.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173949.00,,,,,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,173950.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173951.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173952.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.00 13.28 3.90 3.94 0 28435.81 04:08:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173953.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173954.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.49 14.06 3.90 3.93 0 19992.69 04:08:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173955.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,173956.00,,,,,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: $c1q0 d- 31.32 4.87 15.42 3.92 3.93 0 3874.11 04:08:27 m : AshtechGps::processRecord() - $GPGGA,173957.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,173958.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,173959.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.78 13.37 3.90 3.94 0 28435.38 04:08:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174003.00,,,,,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,174004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.24 14.06 3.90 3.93 0 19992.34 04:08:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.74 15.42 3.92 3.93 0 3873.62 04:08:37 m : AshtechGps::processRecord() - $GPGGA,174007.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174010.00,,,,,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,174011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.89 13.37 3.90 3.94 0 28435.12 04:08:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174013.00,,,,,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,174014.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.27 14.06 3.90 3.93 0 19991.89 04:08:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 4.70 15.42 3.92 3.93 0 3873.25 04:08:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174017.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174021.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.89 13.37 3.90 3.94 0 28434.71 04:08:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174024.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.16 14.06 3.90 3.93 0 19991.58 04:08:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 5.32 15.42 3.92 3.93 0 3872.74 04:08:57 m : AshtechGps::processRecord() - $GPGGA,174027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174028.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,174029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174031.00,,,,,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,174032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 3.89 13.37 3.90 3.94 0 28434.45 04:09:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.24 14.06 3.90 3.93 0 19991.12 04:09:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.53 15.52 3.91 3.93 0 3872.41 04:09:07 m : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.663714 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.653212 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.653212 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : DepthEnvelope -- Measured altitude 12.653212 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174038.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.653212 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.653212 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.653212 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.653212 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.088097 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.088097 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.088097 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.088097 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.088097 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.088097 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.088097 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.640408 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174042.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.41 0.77 13.37 3.90 3.94 0 28434.15 04:09:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.54 2.37 14.16 3.90 3.93 0 19990.93 04:09:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174045.00,,,,,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,174046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.01 15.52 3.91 3.93 0 3872.08 04:09:17 m : AshtechGps::processRecord() - $GPGGA,174047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,174048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174049.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174052.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.15 13.37 3.90 3.94 0 28433.93 04:09:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 4.24 14.06 3.90 3.93 0 19990.53 04:09:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.60 15.42 3.92 3.93 0 3871.73 04:09:27 m : AshtechGps::processRecord() - $GPGGA,174057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174059.00,,,,,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,174100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.59 13.28 3.90 3.94 0 28433.53 04:09:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.85 14.06 3.90 3.93 0 19990.23 04:09:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174106.00,,,,,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: $c1q0 d- 31.36 4.43 15.52 3.92 3.93 0 3871.20 04:09:37 m : AshtechGps::processRecord() - $GPGGA,174107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 3.37 13.28 3.90 3.94 0 28433.28 04:09:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174113.00,,,,,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,174114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 3.84 14.06 3.90 3.93 0 19989.81 04:09:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.32 4.32 15.52 3.92 3.93 0 3870.91 04:09:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174117.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174120.00,,,,,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,174121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.67 13.37 3.90 3.94 0 28432.91 04:09:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174123.00,,,,,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,174124.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 3.88 14.06 3.90 3.93 0 19989.53 04:09:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.32 4.46 15.42 3.92 3.93 0 3870.44 04:09:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174127.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174131.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.85 13.28 3.90 3.94 0 28432.66 04:10:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174134.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.43 4.49 13.96 3.90 3.93 0 19989.11 04:10:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.32 4.46 15.42 3.92 3.93 0 3870.12 04:10:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174137.00,,,,,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 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174138.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174140.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174141.00,,,,,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,174142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.29 3.56 13.37 3.90 3.94 0 28432.28 04:10:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.31 13.96 3.90 3.93 0 19988.82 04:10:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 5.05 15.42 3.92 3.93 0 3869.66 04:10:17 m : AshtechGps::processRecord() - $GPGGA,174147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174148.00,,,,,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,174149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174152.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 4.12 13.28 3.90 3.93 0 28432.01 04:10:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.63 13.96 3.89 3.93 0 19988.36 04:10:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174155.00,,,,,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,174156.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.32 5.05 15.42 3.91 3.93 0 3869.30 04:10:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.89 13.18 3.90 3.93 0 28431.57 04:10:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.74 13.96 3.89 3.93 0 19988.04 04:10:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174205.00,,,,,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,174206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 31.28 5.01 15.33 3.91 3.93 0 3868.78 04:10:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174209.00,,,,,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,174210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174211.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.08 13.37 3.90 3.93 0 28431.28 04:10:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.24 14.06 3.89 3.93 0 19987.56 04:10:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174216.00,,,,,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: $c1q0 d- 31.32 4.77 15.33 3.91 3.93 0 3868.43 04:10:47 m : AshtechGps::processRecord() - $GPGGA,174217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174222.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.15 13.37 3.90 3.93 0 28430.86 04:10:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174223.00,,,,,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,174224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.49 14.06 3.89 3.93 0 19987.24 04:10:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.18 15.42 3.91 3.93 0 3867.92 04:10:57 m : AshtechGps::processRecord() - $GPGGA,174227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174230.00,,,,,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,174231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.37 13.37 3.90 3.93 0 28430.57 04:11:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174233.00,,,,,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,174234.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.42 14.06 3.89 3.93 0 19986.77 04:11:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 5.25 15.42 3.91 3.92 0 3867.57 04:11:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174240.00,,,,,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,174241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.12 13.37 3.90 3.93 0 28430.14 04:11:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.35 4.85 14.06 3.89 3.93 0 19986.45 04:11:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.91 15.42 3.91 3.92 0 3867.05 04:11:17 m : AshtechGps::processRecord() - $GPGGA,174247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174251.00,,,,,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,174252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 4.34 13.47 3.90 3.93 0 28429.85 04:11:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.31 14.16 3.89 3.92 0 19985.97 04:11:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.77 15.52 3.91 3.92 0 3866.71 04:11:27 m : AshtechGps::processRecord() - $GPGGA,174257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174258.00,,,,,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,174259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174301.00,,,,,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,174302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 4.23 13.47 3.90 3.93 0 28429.41 04:11:33 m : DepthEnvelope -- Measured altitude 9.154475 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : DepthEnvelope -- Measured altitude 9.154475 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.154475 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.154475 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.154475 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.154475 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.154475 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.336157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.336157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.336157 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.39 4.67 14.16 3.89 3.92 0 19985.65 04:11:35 m : DepthEnvelope -- Measured altitude 8.336157 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.336157 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.336157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.336157 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 2.33 15.42 3.91 3.92 0 3866.19 04:11:37 m : DepthEnvelope -- Measured altitude 8.390510 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.433727 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.433727 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.433727 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.433727 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : DepthEnvelope -- Measured altitude 7.433727 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 7.433727 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 7.433727 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.37 0.81 13.37 3.92 3.95 0 28429.24 04:11:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 45.037336 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $c0q0 d- 31.58 1.00 14.16 3.91 3.94 0 19985.41 04:11:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174315.00,,,,,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,174316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.43 1.85 15.42 3.93 3.94 0 3866.04 04:11:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174319.00,,,,,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,174320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.89 13.47 3.92 3.95 0 28429.07 04:11:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.34 14.16 3.91 3.94 0 19985.24 04:11:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174326.00,,,,,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: $c1q0 d- 31.28 4.98 15.52 3.93 3.94 0 3865.68 04:11:57 m : AshtechGps::processRecord() - $GPGGA,174327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.920000 : AshtechGps::processRecord() - $GPGGA,174328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.12 13.47 3.90 3.93 0 28428.79 04:12:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174333.00,,,,,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,174334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.67 14.16 3.90 3.93 0 19984.77 04:12:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.98 15.52 3.91 3.93 0 3865.34 04:12:07 m : AshtechGps::processRecord() - $GPGGA,174337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,174338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.440181 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440181 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440181 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.440181 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.440181 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.440181 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.440181 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.403173 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.516568 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.516568 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.516568 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.516568 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.516568 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.516568 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.516568 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.41 0.81 13.37 3.90 3.93 0 28428.44 04:12:13 m : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.698258 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.205844 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.205844 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.205844 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.58 1.18 14.06 3.90 3.93 0 19984.51 04:12:15 m : DepthEnvelope -- Measured altitude 14.205844 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : DepthEnvelope -- Measured altitude 14.205844 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.205844 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.205844 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.291944 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 1.61 15.52 3.91 3.93 0 3865.02 04:12:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,174348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.26 13.37 3.91 3.95 0 28428.34 04:12:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.27 14.06 3.91 3.94 0 19984.30 04:12:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.18 15.52 3.93 3.94 0 3864.81 04:12:27 m : AshtechGps::processRecord() - $GPGGA,174357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,174358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174401.00,,,,,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,174402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 4.12 13.37 3.91 3.95 0 28427.94 04:12:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.34 14.06 3.91 3.94 0 19983.98 04:12:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.25 5.08 15.42 3.93 3.94 0 3864.31 04:12:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174408.00,,,,,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,174409.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174412.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 3.78 13.37 3.90 3.93 0 28427.66 04:12:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.09 14.06 3.90 3.93 0 19983.53 04:12:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174415.00,,,,,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,174416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 4.43 15.42 3.91 3.93 0 3864.00 04:12:47 m : AshtechGps::processRecord() - $GPGGA,174417.00,,,,,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=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,174418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174419.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174420.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174421.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174422.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.75 13.37 3.90 3.93 0 28427.26 04:12:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174423.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.84 13.96 3.90 3.93 0 19983.21 04:12:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174425.00,,,,,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,174426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.36 15.42 3.91 3.93 0 3863.53 04:12:57 m : AshtechGps::processRecord() - $GPGGA,174427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,174428.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174429.00,,,,,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,174430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.85 13.37 3.90 3.94 0 28427.02 04:13:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.02 13.96 3.90 3.93 0 19982.80 04:13:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 4.46 15.42 3.92 3.93 0 3863.18 04:13:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174439.00,,,,,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,174440.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174441.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174442.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.63 13.18 3.90 3.94 0 28426.63 04:13:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174443.00,,,,,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,174444.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.02 13.96 3.90 3.93 0 19982.52 04:13:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,174446.00,,,,,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: $c1q0 d- 31.25 4.77 15.42 3.92 3.93 0 3862.71 04:13:17 m : AshtechGps::processRecord() - $GPGGA,174447.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,174448.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174449.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174450.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174451.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174452.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.89 13.18 3.89 3.93 0 28426.39 04:13:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174453.00,,,,,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,174454.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.16 13.86 3.90 3.93 0 19982.09 04:13:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174455.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174456.00,,,,,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: $c1q0 d- 31.28 5.46 15.42 3.92 3.93 0 3862.41 04:13:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174457.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,174458.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174459.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174500.00,,,,,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,174501.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174502.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.30 13.28 3.89 3.93 0 28425.97 04:13:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174504.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.60 13.96 3.90 3.93 0 19981.78 04:13:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174505.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.15 15.42 3.92 3.93 0 3861.87 04:13:37 m : AshtechGps::processRecord() - $GPGGA,174507.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.903333 : AshtechGps::processRecord() - $GPGGA,174508.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174509.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174510.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174511.00,,,,,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,174512.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 3.93 13.28 3.90 3.93 0 28425.70 04:13:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174514.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.13 13.96 3.89 3.93 0 19981.28 04:13:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174516.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.87 15.33 3.91 3.92 0 3861.54 04:13:47 m : AshtechGps::processRecord() - $GPGGA,174517.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174518.00,,,,,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,174519.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174520.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174521.00,,,,,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,174522.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 4.08 13.28 3.90 3.93 0 28425.29 04:13:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,174523.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174524.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.20 13.96 3.89 3.93 0 19980.97 04:13:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174525.00,,,,,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,174526.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.28 4.91 15.33 3.91 3.92 0 3861.06 04:13:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174527.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174528.00,,,,,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,174529.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174530.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174531.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174532.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.23 13.28 3.89 3.93 0 28425.01 04:14:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174534.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.34 14.06 3.89 3.92 0 19980.53 04:14:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174535.00,,,,,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,174536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.94 15.42 3.91 3.92 0 3860.71 04:14:07 m : AshtechGps::processRecord() - $GPGGA,174537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174539.00,,,,,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,174540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.37 13.18 3.89 3.93 0 28424.61 04:14:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.42 14.06 3.89 3.92 0 19980.22 04:14:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174546.00,,,,,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: $c1q0 d- 31.28 4.84 15.33 3.91 3.92 0 3860.21 04:14:17 m : AshtechGps::processRecord() - $GPGGA,174547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174550.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.08 13.37 3.90 3.93 0 28424.33 04:14:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174553.00,,,,,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,174554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 4.27 14.06 3.89 3.93 0 19979.75 04:14:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.67 15.42 3.91 3.92 0 3859.89 04:14:27 m : AshtechGps::processRecord() - $GPGGA,174557.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.609861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.742256 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.25 3.67 13.37 3.90 3.93 0 28423.92 04:14:33 m : DepthEnvelope -- Measured altitude 12.742256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.742256 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.742256 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.742256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.742256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.742256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.255352 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.255352 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174604.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.255352 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.255352 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.255352 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.54 1.39 14.06 3.89 3.93 0 19979.45 04:14:35 m : DepthEnvelope -- Measured altitude 14.255352 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.255352 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.065644 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.43 1.51 15.33 3.91 3.92 0 3859.51 04:14:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174607.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174610.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174611.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.89 13.37 3.91 3.94 0 28423.82 04:14:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174614.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.34 14.06 3.91 3.94 0 19979.20 04:14:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.28 4.81 15.42 3.92 3.94 0 3859.26 04:14:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174618.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174619.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174621.00,,,,,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,174622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 3.71 13.37 3.91 3.94 0 28423.42 04:14:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.27 14.06 3.91 3.94 0 19978.89 04:14:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.60 15.33 3.92 3.94 0 3858.77 04:14:57 m : AshtechGps::processRecord() - $GPGGA,174627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174628.00,,,,,0,00,,,M,,M,,*46 : 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,174629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174632.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 3.82 13.37 3.90 3.93 0 28423.16 04:15:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174634.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.09 13.96 3.89 3.93 0 19978.44 04:15:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174635.00,,,,,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,174636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.70 15.42 3.91 3.92 0 3858.46 04:15:07 m : AshtechGps::processRecord() - $GPGGA,174637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174639.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174642.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.63 13.37 3.90 3.93 0 28422.79 04:15:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.16 13.96 3.89 3.93 0 19978.15 04:15:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174645.00,,,,,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,174646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.39 15.33 3.91 3.92 0 3857.98 04:15:17 m : AshtechGps::processRecord() - $GPGGA,174647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174649.00,,,,,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,174650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.48 13.37 3.90 3.93 0 28422.55 04:15:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 3.80 13.96 3.89 3.93 0 19977.73 04:15:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174656.00,,,,,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: $c1q0 d- 31.28 4.26 15.33 3.91 3.93 0 3857.68 04:15:27 m : AshtechGps::processRecord() - $GPGGA,174657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174701.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.78 13.18 3.90 3.93 0 28422.14 04:15:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174703.00,,,,,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,174704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.38 13.86 3.89 3.93 0 19977.45 04:15:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 5.94 15.42 3.91 3.93 0 3857.22 04:15:37 m : AshtechGps::processRecord() - $GPGGA,174707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174710.00,,,,,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,174711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 4.26 13.18 3.89 3.93 0 28421.85 04:15:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174713.00,,,,,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,174714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.63 13.86 3.89 3.92 0 19976.98 04:15:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.25 15.42 3.91 3.92 0 3856.87 04:15:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174721.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 5.67 13.18 3.89 3.93 0 28421.41 04:15:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.52 13.96 3.89 3.92 0 19976.65 04:15:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174725.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 5.08 15.33 3.91 3.92 0 3856.34 04:15:57 m : AshtechGps::processRecord() - $GPGGA,174727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174731.00,,,,,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,174732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 3.93 13.18 3.89 3.93 0 28421.12 04:16:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.60 13.96 3.89 3.92 0 19976.17 04:16:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.28 4.98 15.42 3.91 3.92 0 3855.99 04:16:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174738.00,,,,,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,174739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 4.12 13.37 3.89 3.93 0 28420.70 04:16:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174744.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.31 13.96 3.89 3.92 0 19975.85 04:16:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174745.00,,,,,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,174746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.94 15.42 3.91 3.92 0 3855.49 04:16:17 m : AshtechGps::processRecord() - $GPGGA,174747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174749.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174752.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.97 13.28 3.89 3.93 0 28420.43 04:16:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 4.34 14.06 3.89 3.92 0 19975.34 04:16:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174755.00,,,,,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,174756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.28 4.84 15.42 3.91 3.92 0 3855.15 04:16:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174759.00,,,,,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,174800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.89 13.28 3.89 3.93 0 28420.02 04:16:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.52 14.06 3.89 3.92 0 19975.03 04:16:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 31.28 5.12 15.33 3.91 3.92 0 3854.66 04:16:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.503861 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.503861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.503861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.503861 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.503861 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.503861 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174810.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.503861 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.516761 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.516761 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.516761 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.516761 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.516761 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.516761 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.516761 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,174812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.33 1.44 13.37 3.89 3.93 0 28419.76 04:16:43 m : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,174813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.937238 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.659263 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.58 1.07 14.06 3.89 3.92 0 19974.70 04:16:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.39 2.02 15.33 3.91 3.92 0 3854.44 04:16:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174817.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174819.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174820.00,,,,,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,174821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.93 13.28 3.89 3.93 0 28419.54 04:16:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174823.00,,,,,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,174824.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.67 14.06 3.89 3.92 0 19974.48 04:16:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.84 15.42 3.91 3.92 0 3854.01 04:16:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174827.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.75 13.37 3.89 3.93 0 28419.25 04:17:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174834.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.34 13.96 3.89 3.92 0 19974.03 04:17:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.67 15.42 3.91 3.92 0 3853.67 04:17:07 m : AshtechGps::processRecord() - $GPGGA,174837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174838.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174839.00,,,,,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=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174841.00,,,,,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,174842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 3.56 13.28 3.89 3.93 0 28418.87 04:17:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.70 13.96 3.89 3.92 0 19973.75 04:17:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.28 4.39 15.33 3.91 3.92 0 3853.20 04:17:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174848.00,,,,,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,174849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.25 3.41 13.18 3.90 3.93 0 28418.61 04:17:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 3.91 13.96 3.89 3.92 0 19973.33 04:17:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174855.00,,,,,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,174856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.28 4.70 15.33 3.91 3.92 0 3852.85 04:17:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 3.59 13.37 3.90 3.93 0 28418.22 04:17:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 3.95 13.96 3.89 3.92 0 19973.00 04:17:35 m : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174905.00,,,,,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,174906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.50 15.33 3.91 3.92 0 3852.37 04:17:37 m : AshtechGps::processRecord() - $GPGGA,174907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,174908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174909.00,,,,,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,174910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,174912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 3.78 13.18 3.89 3.93 0 28417.97 04:17:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.42 13.96 3.89 3.92 0 19972.56 04:17:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174916.00,,,,,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: $c1q0 d- 31.25 4.98 15.33 3.91 3.92 0 3852.04 04:17:47 m : AshtechGps::processRecord() - $GPGGA,174917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.82 13.18 3.89 3.93 0 28417.55 04:17:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174923.00,,,,,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,174924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.45 13.96 3.89 3.92 0 19972.25 04:17:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.77 15.33 3.91 3.92 0 3851.52 04:17:57 m : AshtechGps::processRecord() - $GPGGA,174927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174930.00,,,,,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,174931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.08 13.18 3.89 3.93 0 28417.27 04:18:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174933.00,,,,,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,174934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.70 13.96 3.89 3.92 0 19971.77 04:18:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.67 15.33 3.91 3.92 0 3851.17 04:18:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174941.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.15 13.18 3.89 3.93 0 28416.84 04:18:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174944.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.39 4.45 13.96 3.89 3.92 0 19971.45 04:18:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.98 15.33 3.91 3.92 0 3850.64 04:18:17 m : AshtechGps::processRecord() - $GPGGA,174947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,174948.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174951.00,,,,,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,174952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 4.08 13.28 3.89 3.93 0 28416.54 04:18:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.42 13.96 3.89 3.92 0 19970.97 04:18:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,174956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.91 15.33 3.91 3.92 0 3850.29 04:18:27 m : AshtechGps::processRecord() - $GPGGA,174957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,174958.00,,,,,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,174959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175001.00,,,,,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,175002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 4.15 13.37 3.89 3.93 0 28416.12 04:18:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.67 14.06 3.89 3.92 0 19970.66 04:18:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175005.00,,,,,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,175006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.08 15.33 3.91 3.92 0 3849.77 04:18:37 m : AshtechGps::processRecord() - $GPGGA,175007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175008.00,,,,,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,175009.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175012.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.19 13.28 3.89 3.93 0 28415.82 04:18:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175013.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175014.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.35 4.70 14.06 3.89 3.92 0 19970.17 04:18:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.834309 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.834309 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.834309 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.834309 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.834309 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.834309 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.834309 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.22 15.33 3.91 3.92 0 3849.39 04:18:47 m : DepthEnvelope -- Measured altitude 13.075169 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.075169 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.075169 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.075169 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.075169 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 13.075169 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.075169 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175019.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.248582 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.712601 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.712601 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.712601 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.712601 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.712601 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.712601 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.712601 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.463848 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 0.81 13.28 3.89 3.93 0 28415.50 04:18:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 1.61 14.06 3.89 3.92 0 19969.98 04:18:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175026.00,,,,,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: $c1q0 d- 31.28 3.81 15.42 3.91 3.92 0 3849.08 04:18:57 m : AshtechGps::processRecord() - $GPGGA,175027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175029.00,,,,,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,175030.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175031.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.23 13.37 3.89 3.93 0 28415.29 04:19:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175033.00,,,,,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,175034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.27 14.06 3.89 3.92 0 19969.61 04:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175036.00,,,,,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: $c1q0 d- 31.25 6.76 15.42 3.91 3.92 0 3848.75 04:19:07 m : AshtechGps::processRecord() - $GPGGA,175037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175038.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175040.00,,,,,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,175041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.15 13.28 3.89 3.93 0 28414.85 04:19:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175043.00,,,,,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,175044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.56 14.06 3.89 3.92 0 19969.30 04:19:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 5.18 15.42 3.91 3.92 0 3848.20 04:19:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175047.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175050.00,,,,,0,00,,,M,,M,,*4E : 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,175051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.78 13.28 3.89 3.93 0 28414.57 04:19:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.24 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175054.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.06 13.96 3.89 3.92 0 19968.80 04:19:25 m : LayeredControl::execute() -- (t = 9459.801959) Behavior waypoint_yoyo:1710976 has changed to state Finished : LayeredControl - sending BehaviorFinished:1710976 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,175055.00,,,,,0,00,,,M,,M,,*4B : 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,175056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.57 15.33 3.91 3.92 0 3847.85 04:19:27 m : AshtechGps::processRecord() - $GPGGA,175057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175058.00,,,,,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,175059.00,,,,,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,175100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175101.00,,,,,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,175102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.25 3.52 13.28 3.89 3.93 0 28414.19 04:19:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175103.00,,,,,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 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 46 behaviors : LayeredControl::execute() -- (t = 9469.181317) Behavior ascend:2356029 has changed to state Active : LayeredControl - ascend BehaviorStarted:2356029 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,175104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 3.80 13.96 3.89 3.92 0 19968.52 04:19:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.43 15.33 3.91 3.92 0 3847.39 04:19:37 m : AshtechGps::processRecord() - $GPGGA,175107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175108.00,,,,,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,175109.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.22 2.55 13.28 3.90 3.94 0 28413.98 04:19:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 2.66 13.96 3.89 3.92 0 19968.18 04:19:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,175115.00,,,,,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,175116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 9481.200493) Behavior ascend:2356029 has changed to state Finished : LayeredControl - sending BehaviorFinished:2356029 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: $c1q0 d- 31.32 3.09 15.42 3.91 3.93 0 3847.15 04:19:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175117.00,,,,,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 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : AshtechGps::processRecord() - $GPGGA,175118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 47 behaviors : LayeredControl::execute() -- (t = 9484.170290) Behavior getgps:2360325 has changed to state Active : LayeredControl - getgps BehaviorStarted:2360325 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,175119.00,,,,,0,00,,,M,,M,,*42 : 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,175120.00,,,,,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,175121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175122.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 2.44 13.18 3.90 3.94 0 28413.71 04:19:53 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,175124.00,3650.79414,N,12153.65228,W,1,08,1.2,-2.89,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.54 1.21 13.86 3.89 3.92 0 19967.97 04:19:55 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,175125.00,3650.79492,N,12153.65241,W,1,08,1.2,-3.39,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175126.00,3650.79526,N,12153.65219,W,1,08,1.2,-2.53,M,-32.59,M,,*78 : 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 : BluefinBatt Reply: $c1q0 d- 31.39 1.57 15.42 3.91 3.93 0 3846.86 04:19:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175127.00,3650.79576,N,12153.65264,W,1,08,1.2,-2.85,M,-32.59,M,,*7D : 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 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.900000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175128.00,3650.79643,N,12153.65259,W,1,08,1.2,-3.56,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175129.00,3650.79687,N,12153.65294,W,1,08,1.2,-3.69,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175130.00,3650.79762,N,12153.65333,W,1,08,1.2,-3.55,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,175131.00,3650.79809,N,12153.65365,W,1,08,1.2,-3.62,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 8 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,175132.00,3650.79853,N,12153.65383,W,1,08,1.2,-3.66,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 9 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.37 0.70 13.28 3.91 3.95 0 28413.63 04:20:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175133.00,3650.79899,N,12153.65392,W,1,08,1.2,-3.47,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 10 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,175134.00,3650.79944,N,12153.65406,W,1,08,1.2,-3.71,M,-32.59,M,,*7A : 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 : BluefinBatt Reply: $c0q0 d- 31.50 1.36 13.86 3.91 3.94 0 19967.86 04:20:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175135.00,3650.79980,N,12153.65424,W,1,08,1.2,-3.74,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 12 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175136.00,3650.80016,N,12153.65443,W,1,08,1.2,-3.51,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 1.57 15.42 3.93 3.94 0 3846.76 04:20:07 m : AshtechGps::processRecord() - $GPGGA,175137.00,3650.80050,N,12153.65447,W,1,08,1.2,-3.32,M,-32.59,M,,*71 : 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 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,175138.00,3650.80083,N,12153.65458,W,1,08,1.2,-3.68,M,-32.59,M,,*71 : 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 : AshtechGps::processRecord() - $GPGGA,175139.00,3650.80114,N,12153.65489,W,1,08,1.2,-4.03,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 16 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175140.00,3650.80152,N,12153.65525,W,1,08,1.2,-4.02,M,-32.59,M,,*73 : 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,175141.00,3650.80193,N,12153.65562,W,1,08,1.2,-3.83,M,-32.59,M,,*72 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175142.00,3650.80226,N,12153.65581,W,1,08,1.2,-3.44,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.33 0.81 13.28 3.91 3.95 0 28413.56 04:20:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175143.00,3650.80264,N,12153.65569,W,1,08,1.2,-3.16,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175144.00,3650.80289,N,12153.65569,W,1,08,1.2,-3.44,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.54 1.21 13.86 3.91 3.94 0 19967.78 04:20:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175145.00,3650.80320,N,12153.65583,W,1,08,1.2,-3.90,M,-32.59,M,,*71 : 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,175146.00,3650.80343,N,12153.65618,W,1,08,1.2,-3.89,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 23 of 30 needed : BluefinBatt Reply: $c1q0 d- 31.39 1.51 15.33 3.93 3.94 0 3846.60 04:20:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175147.00,3650.80372,N,12153.65629,W,1,08,1.2,-3.74,M,-32.59,M,,*7D : 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 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175148.00,3650.80400,N,12153.65635,W,1,08,1.2,-3.74,M,-32.59,M,,*7D : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175149.00,3650.80424,N,12153.65655,W,1,08,1.2,-4.04,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 26 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175150.00,3650.80447,N,12153.65673,W,1,08,1.2,-4.02,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175151.00,3650.80461,N,12153.65719,W,1,08,1.2,-4.11,M,-32.59,M,,*79 : 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,175152.00,3650.80493,N,12153.65723,W,1,08,1.2,-3.60,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 29 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.37 0.77 13.28 3.91 3.95 0 28413.51 04:20:23 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,175153.00,3650.80513,N,12153.65735,W,1,08,1.2,-3.41,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 9518.197959) Behavior getgps:2360325 has changed to state Finished : LayeredControl - sending BehaviorFinished:2360325 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,175154.00,3650.80542,N,12153.65719,W,1,08,1.2,-3.40,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.54 1.14 13.86 3.91 3.94 0 19967.66 04:20:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175155.00,3650.80563,N,12153.65735,W,1,08,1.2,-3.56,M,-32.59,M,,*74 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : Isus::select() timeout : DynoLayeredControl::insert - stack now contains 48 behaviors : LayeredControl::execute() -- (t = 9520.587795) Behavior setpoint:2370045 has changed to state Active : LayeredControl - setpoint BehaviorStarted:2370045 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,175156.00,3650.80586,N,12153.65736,W,1,08,1.2,-3.26,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 1.47 15.33 3.93 3.94 0 3846.49 04:20:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175157.00,3650.80610,N,12153.65734,W,1,08,1.2,-3.53,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,175158.00,3650.80626,N,12153.65762,W,1,08,1.2,-3.86,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,175159.00,3650.80655,N,12153.65765,W,1,08,1.2,-3.88,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,175200.00,3650.80665,N,12153.65805,W,1,08,1.2,-4.03,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175201.00,3650.80693,N,12153.65806,W,1,08,1.2,-3.83,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,175202.00,3650.80710,N,12153.65834,W,1,08,1.2,-3.67,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 31.29 2.15 13.18 3.91 3.95 0 28413.43 04:20:33 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,175203.00,3650.80731,N,12153.65850,W,1,08,1.2,-3.87,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175204.00,3650.80749,N,12153.65869,W,1,08,1.2,-3.66,M,-32.59,M,,*7C : BluefinBatt Reply: $c0q0 d- 31.54 1.03 13.86 3.91 3.94 0 19967.58 04:20:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175205.00,3650.80765,N,12153.65874,W,1,08,1.2,-3.32,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,175206.00,3650.80780,N,12153.65851,W,1,08,1.2,-3.12,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.43 1.44 15.23 3.93 3.94 0 3846.33 04:20:37 m : AshtechGps::processRecord() - $GPGGA,175207.00,3650.80798,N,12153.65851,W,1,08,1.2,-3.61,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,175208.00,3650.80819,N,12153.65876,W,1,08,1.2,-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,175209.00,3650.80835,N,12153.65907,W,1,08,1.2,-4.02,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,175210.00,3650.80848,N,12153.65929,W,1,08,1.2,-3.69,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175211.00,3650.80869,N,12153.65913,W,1,08,1.2,-3.42,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175212.00,3650.80886,N,12153.65929,W,1,08,1.2,-3.48,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.37 0.66 13.08 3.91 3.95 0 28413.38 04:20:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175213.00,3650.80908,N,12153.65924,W,1,08,1.2,-3.53,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,175214.00,3650.80921,N,12153.65932,W,1,08,1.2,-3.70,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 31.54 1.29 13.86 3.91 3.94 0 19967.44 04:20:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175215.00,3650.80934,N,12153.65944,W,1,08,1.2,-3.91,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,175216.00,3650.80951,N,12153.65959,W,1,08,1.2,-3.74,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 : BluefinBatt Reply: $c1q0 d- 31.43 1.57 15.13 3.93 3.94 0 3846.22 04:20:47 m : AshtechGps::processRecord() - $GPGGA,175217.00,3650.80968,N,12153.65978,W,1,08,1.2,-3.67,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175218.00,3650.80989,N,12153.65974,W,1,08,1.2,-3.55,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175219.00,3650.81004,N,12153.65984,W,1,08,1.2,-3.47,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : LayeredControl::execute() -- (t = 9544.596150) Behavior setpoint:2370045 has changed to state Finished : LayeredControl - sending BehaviorFinished:2370045 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,175220.00,3650.81017,N,12153.65971,W,1,08,1.2,-3.45,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,175221.00,3650.81027,N,12153.65980,W,1,08,1.2,-3.56,M,-32.59,M,,*70 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 49 behaviors : LayeredControl::execute() -- (t = 9546.576015) Behavior setpoint:2377123 has changed to state Active : LayeredControl - setpoint BehaviorStarted:2377123 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175222.00,3650.81041,N,12153.65979,W,1,08,1.2,-3.68,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.37 0.70 13.08 3.91 3.95 0 28413.29 04:20:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175223.00,3650.81059,N,12153.65996,W,1,08,1.2,-3.90,M,-32.59,M,,*76 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 50 behaviors : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175224.00,3650.81075,N,12153.65998,W,1,08,1.2,-3.89,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 31.50 2.37 13.86 3.91 3.94 0 19967.36 04:20:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175225.00,3650.81093,N,12153.66025,W,1,08,1.2,-3.82,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175226.00,3650.81122,N,12153.66020,W,1,08,1.2,-3.54,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : LayeredControl::execute() -- (t = 9551.595671) Behavior setpoint:2377123 has changed to state Finished : LayeredControl - sending BehaviorFinished:2377123 msg to VcsServer : LayeredControl::execute() -- (t = 9551.595671) Behavior descend:2377081 has changed to state Active : LayeredControl - descend BehaviorStarted:2377081 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 3.71 15.23 3.93 3.94 0 3846.05 04:20:57 m : AshtechGps::processRecord() - $GPGGA,175227.00,3650.81148,N,12153.66025,W,1,08,1.2,-3.47,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.916667 : AshtechGps::processRecord() - $GPGGA,175228.00,3650.81172,N,12153.66016,W,1,08,1.2,-3.41,M,-32.59,M,,*7B : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175229.00,3650.81199,N,12153.66009,W,1,08,1.2,-3.37,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175230.00,3650.81235,N,12153.65989,W,1,08,1.2,-3.44,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175231.00,3650.81272,N,12153.65981,W,1,08,1.2,-3.67,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175232.00,3650.81311,N,12153.65992,W,1,08,1.2,-4.07,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 31.25 3.63 13.18 3.89 3.93 0 28413.11 04:21:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175233.00,3650.81349,N,12153.66010,W,1,08,1.2,-3.93,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175234.00,3650.81402,N,12153.66007,W,1,08,1.2,-3.46,M,-32.59,M,,*73 : BluefinBatt Reply: $c0q0 d- 31.39 4.38 13.86 3.89 3.92 0 19967.03 04:21:05 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175235.00,3650.81455,N,12153.65984,W,1,08,1.2,-3.46,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175236.00,3650.81507,N,12153.65991,W,1,08,1.2,-3.63,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 4.05 15.13 3.91 3.92 0 3845.74 04:21:07 m : AshtechGps::processRecord() - $GPGGA,175237.00,3650.81553,N,12153.65989,W,1,08,1.2,-3.71,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175238.00,3650.81603,N,12153.66000,W,1,08,1.2,-3.47,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175239.00,3650.81664,N,12153.65965,W,1,08,1.2,-3.19,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175240.00,3650.81719,N,12153.65945,W,1,08,1.2,-3.42,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175241.00,3650.81776,N,12153.65931,W,1,08,1.2,-3.77,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175242.00,3650.81835,N,12153.65932,W,1,08,1.2,-4.10,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 31.25 2.96 13.18 3.89 3.93 0 28412.81 04:21:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175243.00,3650.81898,N,12153.65953,W,1,08,1.2,-4.31,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175244.00,3650.81952,N,12153.65973,W,1,08,1.2,-4.31,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 1.94 13.86 3.89 3.92 0 19966.81 04:21:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175245.00,3650.81904,N,12153.65939,W,1,06,2.0,-3.26,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175246.00,,,,,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: $c1q0 d- 31.28 5.05 15.13 3.91 3.92 0 3845.40 04:21:17 m : AshtechGps::processRecord() - $GPGGA,175247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175248.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.011068 > 2.000000 at time 9573.794150 : LayeredControl::execute() -- (t = 9573.794150) Behavior descend:2377081 has changed to state Finished : LayeredControl - sending BehaviorFinished:2377081 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,175249.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175250.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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 51 behaviors : Waypoint Initialization: Begin waypoint control at t= 9575.75 (wplog) The current location (N,E) = 4078472.9 , 598577.1 (wplog) The next waypoint = 4078781.4 , 598573.8 (wplog) The bearing to the next w.p. is 359.4 Degrees. : LayeredControl::execute() -- (t = 9575.754016) Behavior waypoint_yoyo:2385110 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:2385110 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,175251.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.89 13.18 3.89 3.93 0 28412.60 04:21:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175253.00,,,,,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,175254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 4.42 13.86 3.89 3.92 0 19966.42 04:21:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.91 15.23 3.91 3.92 0 3845.07 04:21:27 m : AshtechGps::processRecord() - $GPGGA,175257.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175258.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175259.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175302.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 4.15 13.18 3.89 3.93 0 28412.16 04:21:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175303.00,,,,,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,175304.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.70 13.86 3.89 3.92 0 19966.10 04:21:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.12 15.23 3.91 3.92 0 3844.54 04:21:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175307.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175309.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175311.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175312.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.37 13.28 3.89 3.93 0 28411.86 04:21:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175314.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.35 4.67 13.96 3.89 3.92 0 19965.59 04:21:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.28 5.77 15.23 3.91 3.92 0 3844.19 04:21:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175318.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175321.00,,,,,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,175322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 4.19 13.28 3.89 3.93 0 28411.38 04:21:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.52 13.96 3.89 3.92 0 19965.29 04:21:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.17 6.80 15.33 3.91 3.92 0 3843.64 04:21:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175328.00,,,,,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,175329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175332.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 4.23 13.28 3.89 3.93 0 28411.09 04:22:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.38 14.06 3.89 3.92 0 19964.81 04:22:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175335.00,,,,,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,175336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.25 4.94 15.23 3.91 3.92 0 3843.29 04:22:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175339.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175342.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.23 13.28 3.89 3.93 0 28410.64 04:22:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.96 14.06 3.89 3.92 0 19964.47 04:22:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.94 15.33 3.91 3.92 0 3842.77 04:22:17 m : AshtechGps::processRecord() - $GPGGA,175347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175349.00,,,,,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,175350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175351.00,,,,,0,00,,,M,,M,,*4C : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.97 13.28 3.89 3.93 0 28410.35 04:22:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175354.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.52 14.06 3.89 3.92 0 19963.98 04:22:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175356.00,,,,,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: $c1q0 d- 31.21 5.05 15.33 3.91 3.92 0 3842.42 04:22:27 m : AshtechGps::processRecord() - $GPGGA,175357.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.077127 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.077127 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.077127 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.077127 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.077127 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.077127 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.077127 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.991192 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.860984 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.860984 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.860984 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.860984 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.860984 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.33 0.77 13.28 3.89 3.93 0 28409.96 04:22:33 m : DepthEnvelope -- Measured altitude 14.860984 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.860984 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 16.855275 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175403.00,,,,,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,175404.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.50 1.25 14.06 3.89 3.92 0 19963.68 04:22:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175405.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 31.43 1.68 15.42 3.91 3.92 0 3842.06 04:22:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175407.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175408.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175410.00,,,,,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,175411.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.63 13.37 3.90 3.94 0 28409.83 04:22:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175413.00,,,,,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,175414.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 5.50 14.06 3.90 3.93 0 19963.40 04:22:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175415.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 5.08 15.42 3.92 3.93 0 3841.78 04:22:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,175418.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175419.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175421.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.97 13.37 3.90 3.94 0 28409.41 04:22:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 4.27 14.06 3.90 3.93 0 19963.10 04:22:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175426.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.46 15.42 3.92 3.93 0 3841.29 04:22:57 m : AshtechGps::processRecord() - $GPGGA,175427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.900000, mean min cell voltage 3.906667 : AshtechGps::processRecord() - $GPGGA,175428.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175429.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175431.00,,,,,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,175432.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 3.56 13.37 3.89 3.93 0 28409.15 04:23:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175433.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 3.98 14.06 3.89 3.92 0 19962.64 04:23:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175436.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.25 4.26 15.42 3.91 3.92 0 3840.98 04:23:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175438.00,,,,,0,00,,,M,,M,,*44 : 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,175439.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175440.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.22 3.59 13.37 3.89 3.93 0 28408.77 04:23:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175443.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 3.77 14.06 3.89 3.92 0 19962.37 04:23:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175445.00,,,,,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,175446.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.32 15.42 3.91 3.92 0 3840.53 04:23:17 m : AshtechGps::processRecord() - $GPGGA,175447.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175449.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175450.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,175451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.56 13.37 3.89 3.93 0 28408.52 04:23:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 3.77 13.96 3.89 3.92 0 19961.97 04:23:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175455.00,,,,,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,175456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.25 4.46 15.33 3.91 3.92 0 3840.17 04:23:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175459.00,,,,,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,175500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.97 13.28 3.89 3.93 0 28408.12 04:23:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.27 13.96 3.89 3.92 0 19961.67 04:23:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175506.00,,,,,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: $c1q0 d- 31.25 4.81 15.33 3.91 3.92 0 3839.69 04:23:37 m : AshtechGps::processRecord() - $GPGGA,175507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175509.00,,,,,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,175510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.04 13.18 3.89 3.92 0 28407.80 04:23:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175513.00,,,,,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,175514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.52 13.96 3.89 3.92 0 19961.19 04:23:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175516.00,,,,,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: $c1q0 d- 31.21 5.05 15.33 3.91 3.92 0 3839.36 04:23:47 m : AshtechGps::processRecord() - $GPGGA,175517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175520.00,,,,,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,175521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.97 13.37 3.89 3.92 0 28407.38 04:23:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175523.00,,,,,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,175524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 4.09 13.96 3.89 3.92 0 19960.89 04:23:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175526.00,,,,,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: $c1q0 d- 31.25 5.05 15.33 3.91 3.92 0 3838.86 04:23:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175527.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175530.00,,,,,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,175531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.19 13.37 3.89 3.92 0 28407.11 04:24:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175534.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.42 14.06 3.89 3.92 0 19960.44 04:24:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 4.87 15.42 3.91 3.92 0 3838.53 04:24:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175537.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175538.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175539.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175541.00,,,,,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,175542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 3.93 13.28 3.89 3.92 0 28406.69 04:24:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.35 4.16 14.06 3.89 3.92 0 19960.13 04:24:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.87 15.33 3.91 3.92 0 3838.04 04:24:17 m : AshtechGps::processRecord() - $GPGGA,175547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175548.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,175549.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175550.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175551.00,,,,,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,175552.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 4.12 13.37 3.89 3.92 0 28406.41 04:24:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175553.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.13 14.06 3.89 3.92 0 19959.64 04:24:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175555.00,,,,,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,175556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.032815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.032815 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.032815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.032815 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.67 15.42 3.91 3.92 0 3837.72 04:24:27 m : DepthEnvelope -- Measured altitude 13.032815 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.032815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.032815 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.668138 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.668138 under allowable altitude 15.000000. 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 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : DepthEnvelope -- Measured altitude 12.668138 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.668138 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.668138 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.668138 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.668138 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175559.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.220333 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.412622 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175602.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.29 0.85 13.37 3.89 3.92 0 28406.13 04:24:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 1.79 14.06 3.89 3.92 0 19959.44 04:24:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175605.00,,,,,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,175606.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 31.28 3.81 15.52 3.91 3.92 0 3837.42 04:24:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175607.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Waypoint has set the state to finished. : Waypoint (4078781.4, 598573.8), reached at t = 9774.00 (wplog) : Vehicle Position is error is (-0.1, 0.0) : LayeredControl::execute() -- (t = 9774.000435) Behavior waypoint_yoyo:2385110 has changed to state Finished : LayeredControl - sending BehaviorFinished:2385110 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175609.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175610.00,,,,,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,175611.00,,,,,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,175612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.15 13.37 3.89 3.93 0 28405.93 04:24:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175613.00,,,,,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,175614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.31 4.42 14.06 3.89 3.92 0 19959.07 04:24:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175616.00,,,,,0,00,,,M,,M,,*4A : 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 52 behaviors : Waypoint Initialization: Begin waypoint control at t= 9781.37 (wplog) The current location (N,E) = 4078792.4 , 598573.5 (wplog) The next waypoint = 4078770.6 , 597631.8 (wplog) The bearing to the next w.p. is 268.7 Degrees. : LayeredControl::execute() -- (t = 9781.369930) Behavior waypoint_yoyo:2446224 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:2446224 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.74 15.42 3.91 3.92 0 3837.08 04:24:47 m : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,175617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.85 13.37 3.89 3.93 0 28405.51 04:24:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175623.00,,,,,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,175624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 3.95 14.06 3.89 3.92 0 19958.78 04:24:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.25 4.26 15.52 3.91 3.92 0 3836.61 04:24:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175627.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175629.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175630.00,,,,,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,175631.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.34 13.37 3.89 3.92 0 28405.25 04:25:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175633.00,,,,,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,175634.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.49 14.06 3.89 3.92 0 19958.33 04:25:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.25 4.81 15.42 3.91 3.92 0 3836.27 04:25:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175637.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175641.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.15 13.37 3.89 3.92 0 28404.82 04:25:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175644.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.49 14.06 3.89 3.92 0 19958.01 04:25:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 6.42 15.52 3.91 3.92 0 3835.74 04:25:17 m : AshtechGps::processRecord() - $GPGGA,175647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175651.00,,,,,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,175652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 3.97 13.37 3.89 3.92 0 28404.52 04:25:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 31.31 4.09 14.06 3.88 3.92 0 19957.53 04:25:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 5.46 15.42 3.90 3.92 0 3835.40 04:25:27 m : AshtechGps::processRecord() - $GPGGA,175657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175658.00,,,,,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,175659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175700.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175701.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 3.82 13.37 3.89 3.92 0 28404.07 04:25:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175704.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.52 13.96 3.88 3.92 0 19957.22 04:25:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175705.00,,,,,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,175706.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.87 15.42 3.90 3.92 0 3834.88 04:25:37 m : AshtechGps::processRecord() - $GPGGA,175707.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,175708.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175709.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175710.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175711.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175712.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.30 13.37 3.89 3.92 0 28403.78 04:25:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175713.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175714.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.38 14.06 3.88 3.92 0 19956.75 04:25:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175715.00,,,,,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,175716.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 5.08 15.42 3.90 3.92 0 3834.47 04:25:47 m : AshtechGps::processRecord() - $GPGGA,175717.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,175718.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175719.00,,,,,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,175720.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175721.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.18 4.30 13.37 3.89 3.92 0 28403.34 04:25:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175724.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.34 14.06 3.88 3.92 0 19956.43 04:25:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175725.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175726.00,,,,,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: $c1q0 d- 31.17 5.22 15.42 3.90 3.92 0 3833.92 04:25:57 m : AshtechGps::processRecord() - $GPGGA,175727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,175728.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175729.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175731.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.23 13.37 3.89 3.92 0 28403.05 04:26:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175733.00,,,,,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,175734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.49 14.06 3.88 3.92 0 19955.94 04:26:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175735.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 5.29 15.42 3.90 3.92 0 3833.58 04:26:07 m : AshtechGps::processRecord() - $GPGGA,175737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,175738.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175739.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175740.00,,,,,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,175741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175742.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.04 13.37 3.89 3.92 0 28402.62 04:26:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175743.00,,,,,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,175744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.16 14.06 3.88 3.92 0 19955.63 04:26:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175745.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175746.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.77 15.33 3.90 3.92 0 3833.06 04:26:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,175748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175749.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175750.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,175751.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175752.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.71 13.28 3.89 3.92 0 28402.35 04:26:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175753.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175754.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.34 14.16 3.89 3.92 0 19955.18 04:26:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175755.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 4.81 15.42 3.91 3.92 0 3832.72 04:26:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.581340 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.581340 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.581340 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.581340 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.581340 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.581340 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.581340 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.891261 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.891261 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.891261 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.891261 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.891261 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.891261 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.891261 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,175801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.259852 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.29 0.70 13.37 3.89 3.92 0 28402.01 04:26:33 m : DepthEnvelope -- altitude 16.248084 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 1.14 14.06 3.89 3.92 0 19954.91 04:26:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.32 2.88 15.52 3.91 3.92 0 3832.39 04:26:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175808.00,,,,,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,175809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175810.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175811.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175812.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 3.82 13.47 3.89 3.93 0 28401.85 04:26:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175814.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.45 14.06 3.89 3.92 0 19954.56 04:26:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175815.00,,,,,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,175816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.21 4.94 15.52 3.91 3.92 0 3832.09 04:26:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175817.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175818.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.990480 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.990480 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175819.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.990480 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.990480 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.990480 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.990480 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.990480 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,175820.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 25.963497 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175821.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 2.48 13.37 3.89 3.93 0 28401.43 04:26:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175824.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 2.76 14.06 3.89 3.92 0 19954.25 04:26:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175826.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 5.18 15.42 3.91 3.92 0 3831.62 04:26:57 m : AshtechGps::processRecord() - $GPGGA,175827.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,175828.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175829.00,,,,,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,175830.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175831.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175832.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.67 13.37 3.89 3.92 0 28401.21 04:27:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175834.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 3.95 14.06 3.89 3.92 0 19953.86 04:27:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 4.57 15.42 3.91 3.92 0 3831.32 04:27:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175837.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175838.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175839.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175840.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175841.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175842.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.67 13.37 3.89 3.92 0 28400.82 04:27:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175843.00,,,,,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,175844.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 3.88 14.06 3.89 3.92 0 19953.58 04:27:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.22 15.42 3.91 3.92 0 3830.85 04:27:17 m : AshtechGps::processRecord() - $GPGGA,175847.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175848.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,175849.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175850.00,,,,,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,175851.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175852.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.44 13.37 3.89 3.92 0 28400.57 04:27:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175853.00,,,,,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,175854.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 3.70 13.96 3.89 3.92 0 19953.17 04:27:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 4.57 15.42 3.91 3.92 0 3830.55 04:27:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175857.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175858.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175859.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175900.00,,,,,0,00,,,M,,M,,*42 : 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,175901.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175902.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 4.26 13.28 3.89 3.92 0 28400.18 04:27:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175904.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.45 13.96 3.89 3.92 0 19952.87 04:27:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 5.05 15.42 3.91 3.92 0 3830.04 04:27:37 m : AshtechGps::processRecord() - $GPGGA,175907.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,175908.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175909.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175910.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175911.00,,,,,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,175912.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 4.19 13.37 3.89 3.92 0 28399.90 04:27:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175914.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.42 14.06 3.88 3.92 0 19952.41 04:27:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175915.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.21 5.05 15.42 3.90 3.91 0 3829.70 04:27:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175917.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175918.00,,,,,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,175919.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175920.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175921.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175922.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 4.30 13.37 3.89 3.92 0 28399.46 04:27:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175924.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.56 14.06 3.88 3.92 0 19952.04 04:27:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175925.00,,,,,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,175926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 5.01 15.33 3.90 3.91 0 3829.19 04:27:57 m : AshtechGps::processRecord() - $GPGGA,175927.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,175928.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175929.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175930.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175931.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175932.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.00 13.37 3.89 3.92 0 28399.19 04:28:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175934.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 5.42 14.06 3.88 3.92 0 19951.58 04:28:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175935.00,,,,,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,175936.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.81 15.42 3.90 3.92 0 3828.86 04:28:07 m : AshtechGps::processRecord() - $GPGGA,175937.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,175938.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175939.00,,,,,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,175940.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175941.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.59 13.37 3.89 3.92 0 28398.93 04:28:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.20 14.06 3.88 3.92 0 19951.33 04:28:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 4.91 15.33 3.90 3.92 0 3828.51 04:28:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175947.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175950.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175951.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.25 0.89 13.28 3.89 3.92 0 28398.62 04:28:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,175953.00,,,,,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,175954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 1.94 14.06 3.89 3.92 0 19950.99 04:28:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 3.78 15.33 3.90 3.91 0 3828.30 04:28:27 m : AshtechGps::processRecord() - $GPGGA,175957.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.893333 : AshtechGps::processRecord() - $GPGGA,175958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,175959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180000.00,,,,,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,180001.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180002.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.85 13.28 3.89 3.92 0 28398.34 04:28:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180003.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180004.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.24 14.16 3.89 3.92 0 19950.73 04:28:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180005.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,180006.00,,,,,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: $c1q0 d- 31.25 4.81 15.42 3.90 3.91 0 3827.83 04:28:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180007.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.893333 : AshtechGps::processRecord() - $GPGGA,180008.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180009.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180010.00,,,,,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,180011.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180012.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 2.96 13.37 3.91 3.94 0 28398.18 04:28:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180013.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180014.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.31 14.16 3.91 3.94 0 19950.41 04:28:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180015.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180016.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.64 15.42 3.92 3.93 0 3827.63 04:28:47 m : AshtechGps::processRecord() - $GPGGA,180017.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,180018.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180019.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.914973 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.451352 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.451352 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180020.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.451352 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.451352 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.451352 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.451352 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.451352 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180021.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.675843 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.675843 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.675843 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.675843 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.675843 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180022.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.675843 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.675843 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.22 2.26 13.37 3.91 3.94 0 28397.79 04:28:53 m : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180023.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.055165 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180024.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 1.36 14.16 3.91 3.94 0 19950.09 04:28:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180025.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180026.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.39 1.47 15.42 3.92 3.93 0 3827.25 04:28:57 m : AshtechGps::processRecord() - $GPGGA,180027.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180028.00,,,,,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,180029.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180030.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180031.00,,,,,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,180032.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.29 0.70 13.47 3.91 3.94 0 28397.74 04:29:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180033.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180034.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.46 1.32 14.16 3.91 3.94 0 19949.97 04:29:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180035.00,,,,,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,180036.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.32 1.44 15.33 3.92 3.93 0 3827.14 04:29:07 m : AshtechGps::processRecord() - $GPGGA,180037.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,180038.00,,,,,0,00,,,M,,M,,*4A : 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,180039.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180040.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 8.985925 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.059194 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.059194 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180041.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.059194 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.059194 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.059194 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.059194 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.059194 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180042.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.29 0.77 13.47 3.91 3.94 0 28397.63 04:29:13 m : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180043.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.096334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362550 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.362550 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180044.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.362550 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362550 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.362550 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.46 1.07 14.25 3.91 3.94 0 19949.89 04:29:15 m : DepthEnvelope -- Measured altitude 9.362550 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.362550 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180045.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.871273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.871273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.871273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 9.871273 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 9.871273 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180046.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 9.871273 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 9.871273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.36 1.40 15.42 3.92 3.93 0 3826.99 04:29:17 m : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180047.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : DepthEnvelope -- Measured altitude 10.069099 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180048.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.398816 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.398816 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.398816 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.398816 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.398816 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180049.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.398816 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.398816 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180050.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.773406 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180051.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.936200 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.936200 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.936200 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.936200 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 10.936200 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180052.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 10.936200 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 10.936200 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.29 0.81 13.37 3.91 3.94 0 28397.58 04:29:23 m : DepthEnvelope -- Measured altitude 11.029511 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.029511 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.029511 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180053.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.029511 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.029511 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.029511 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.029511 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180054.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.50 0.96 14.16 3.91 3.94 0 19949.78 04:29:25 m : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180055.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.153712 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.225068 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.225068 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.225068 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180056.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.225068 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.225068 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.225068 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.225068 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.36 1.47 15.42 3.92 3.94 0 3826.86 04:29:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180057.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180058.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.493110 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.413202 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.413202 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.413202 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180059.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.413202 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.413202 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.413202 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.413202 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180100.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180101.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.644022 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.657566 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.657566 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.657566 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180102.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.657566 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.657566 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.33 0.74 13.37 3.91 3.94 0 28397.50 04:29:33 m : DepthEnvelope -- Measured altitude 11.657566 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.657566 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180103.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180104.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.133987 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.464070 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.50 1.00 14.06 3.91 3.94 0 19949.68 04:29:35 m : DepthEnvelope -- Measured altitude 12.464070 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.464070 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180105.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.464070 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.464070 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.464070 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.464070 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.753647 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180106.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.753647 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.753647 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.753647 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.753647 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.36 1.68 15.42 3.92 3.94 0 3826.71 04:29:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.753647 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180107.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.753647 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180108.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.086676 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.112652 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180109.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.112652 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.112652 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.112652 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.112652 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.112652 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180110.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.112652 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180111.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.484866 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.737575 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180112.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.737575 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.737575 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.33 0.66 13.28 3.91 3.94 0 28397.45 04:29:43 m : DepthEnvelope -- Measured altitude 13.737575 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.737575 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.737575 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180113.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.737575 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180114.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.50 0.96 14.06 3.91 3.94 0 19949.58 04:29:45 m : DepthEnvelope -- Measured altitude 13.906616 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.034192 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180115.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.034192 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.034192 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.034192 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.034192 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.034192 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180116.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.034192 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.39 1.44 15.42 3.92 3.94 0 3826.61 04:29:47 m : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180117.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : DepthEnvelope -- Measured altitude 14.128951 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.788367 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180118.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.788367 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.788367 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.788367 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.788367 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.788367 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180119.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.788367 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.917343 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.917343 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.917343 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.917343 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180120.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.917343 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.917343 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.917343 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.348019 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180121.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180122.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.33 0.66 13.37 3.91 3.94 0 28397.38 04:29:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180123.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180124.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.43 2.19 14.06 3.91 3.94 0 19949.51 04:29:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180125.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180126.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 4.22 15.33 3.92 3.94 0 3826.41 04:29:57 m : AshtechGps::processRecord() - $GPGGA,180127.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.910000, mean min cell voltage 3.913333 : AshtechGps::processRecord() - $GPGGA,180128.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180129.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180130.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180131.00,,,,,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,180132.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 3.85 13.37 3.89 3.92 0 28397.17 04:30:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180133.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180134.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.35 4.56 14.06 3.89 3.92 0 19949.13 04:30:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180135.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180136.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.25 4.91 15.33 3.91 3.92 0 3826.09 04:30:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180137.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180138.00,,,,,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,180139.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180140.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180141.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180142.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 4.08 13.37 3.89 3.92 0 28396.75 04:30:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180143.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180144.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.31 4.56 14.06 3.89 3.92 0 19948.81 04:30:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180145.00,,,,,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,180146.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 5.08 15.42 3.91 3.92 0 3825.57 04:30:17 m : AshtechGps::processRecord() - $GPGGA,180147.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,180148.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180149.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180150.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180151.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180152.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.37 13.37 3.89 3.92 0 28396.44 04:30:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180153.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180154.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.67 14.06 3.89 3.92 0 19948.32 04:30:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180155.00,,,,,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,180156.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 5.22 15.42 3.90 3.91 0 3825.22 04:30:27 m : AshtechGps::processRecord() - $GPGGA,180157.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.893333 : AshtechGps::processRecord() - $GPGGA,180158.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180159.00,,,,,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,180200.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180201.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180202.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.59 13.37 3.89 3.92 0 28396.01 04:30:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180203.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180204.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 3.73 14.06 3.89 3.92 0 19948.02 04:30:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180205.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180206.00,,,,,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: $c1q0 d- 31.25 4.39 15.42 3.90 3.91 0 3824.75 04:30:37 m : AshtechGps::processRecord() - $GPGGA,180207.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.893333 : AshtechGps::processRecord() - $GPGGA,180208.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180209.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180210.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180211.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180212.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.63 13.28 3.89 3.92 0 28395.77 04:30:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180213.00,,,,,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,180214.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 3.98 13.96 3.89 3.92 0 19947.61 04:30:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180215.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180216.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 4.53 15.42 3.91 3.92 0 3824.44 04:30:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,180217.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180218.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180219.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180220.00,,,,,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,180221.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180222.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.56 13.28 3.89 3.92 0 28395.39 04:30:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180223.00,,,,,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,180224.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 5.10 13.96 3.89 3.92 0 19947.33 04:30:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180225.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180226.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.57 15.33 3.91 3.92 0 3823.99 04:30:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180227.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,180228.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180229.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180230.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180231.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180232.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 4.15 13.28 3.89 3.92 0 28395.12 04:31:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180233.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180234.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.31 13.96 3.88 3.91 0 19946.87 04:31:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180235.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180236.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 5.18 15.33 3.90 3.91 0 3823.66 04:31:07 m : AshtechGps::processRecord() - $GPGGA,180237.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,180238.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180239.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180240.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180241.00,,,,,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,180242.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 4.23 13.18 3.89 3.92 0 28394.69 04:31:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180243.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180244.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.60 13.96 3.88 3.91 0 19946.55 04:31:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180245.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180246.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 5.15 15.42 3.90 3.91 0 3823.10 04:31:17 m : AshtechGps::processRecord() - $GPGGA,180247.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180248.00,,,,,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,180249.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180250.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180251.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180252.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 4.12 13.28 3.88 3.92 0 28394.40 04:31:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180253.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180254.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.56 13.96 3.88 3.91 0 19946.08 04:31:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180255.00,,,,,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,180256.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.91 15.33 3.90 3.91 0 3822.75 04:31:27 m : AshtechGps::processRecord() - $GPGGA,180257.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180258.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180259.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180300.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180301.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180302.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.82 13.18 3.88 3.92 0 28393.94 04:31:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180303.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180304.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 5.06 14.06 3.88 3.91 0 19945.76 04:31:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180305.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180306.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.67 15.33 3.90 3.91 0 3822.25 04:31:37 m : AshtechGps::processRecord() - $GPGGA,180307.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180308.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180309.00,,,,,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,180310.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180311.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180312.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 3.97 13.28 3.88 3.92 0 28393.67 04:31:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180313.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180314.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.24 14.06 3.88 3.91 0 19945.31 04:31:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180315.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180316.00,,,,,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: $c1q0 d- 31.14 5.01 15.42 3.90 3.91 0 3821.92 04:31:47 m : AshtechGps::processRecord() - $GPGGA,180317.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180318.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180319.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180320.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180321.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180322.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.14 3.93 13.37 3.88 3.92 0 28393.26 04:31:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180323.00,,,,,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,180324.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.56 14.06 3.88 3.91 0 19945.01 04:31:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180325.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180326.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.17 4.91 15.33 3.90 3.91 0 3821.42 04:31:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180327.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180328.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180329.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180330.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.829654 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.829654 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.829654 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.829654 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.829654 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180331.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.829654 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.829654 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.958077 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.958077 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.958077 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180332.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.958077 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.958077 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.14 3.67 13.28 3.89 3.92 0 28392.99 04:32:03 m : DepthEnvelope -- Measured altitude 13.958077 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.958077 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 15.430263 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,180333.00,,,,,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,180334.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.46 1.39 14.06 3.88 3.92 0 19944.57 04:32:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180335.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180336.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 1.89 15.52 3.90 3.91 0 3821.11 04:32:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180337.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180338.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180339.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180340.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180341.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180342.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.85 13.37 3.89 3.92 0 28392.69 04:32:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180343.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180344.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.63 14.06 3.88 3.92 0 19944.36 04:32:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180345.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180346.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.84 15.42 3.90 3.91 0 3820.71 04:32:17 m : AshtechGps::processRecord() - $GPGGA,180347.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,180348.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180349.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180350.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180351.00,,,,,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,180352.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 4.15 13.37 3.89 3.92 0 28392.41 04:32:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180353.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180354.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.34 14.06 3.88 3.92 0 19943.90 04:32:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180355.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180356.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 4.64 15.42 3.90 3.91 0 3820.38 04:32:27 m : AshtechGps::processRecord() - $GPGGA,180357.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180358.00,,,,,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,180359.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180400.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180401.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180402.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 3.67 13.28 3.89 3.92 0 28392.01 04:32:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180403.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180404.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.09 14.06 3.88 3.92 0 19943.60 04:32:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180405.00,,,,,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,180406.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.39 15.33 3.90 3.91 0 3819.89 04:32:37 m : AshtechGps::processRecord() - $GPGGA,180407.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,180408.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180409.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180410.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180411.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180412.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.82 13.37 3.89 3.92 0 28391.76 04:32:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180413.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180414.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 4.20 14.06 3.88 3.92 0 19943.17 04:32:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180415.00,,,,,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,180416.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.39 15.33 3.90 3.91 0 3819.57 04:32:47 m : AshtechGps::processRecord() - $GPGGA,180417.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : AshtechGps::processRecord() - $GPGGA,180418.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180419.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,180420.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180421.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180422.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.67 13.37 3.89 3.92 0 28391.35 04:32:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180423.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180424.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 3.91 13.96 3.88 3.92 0 19942.87 04:32:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180425.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180426.00,,,,,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: $c1q0 d- 31.17 4.50 15.33 3.90 3.91 0 3819.11 04:32:57 m : AshtechGps::processRecord() - $GPGGA,180427.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.890000 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,180428.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180429.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180430.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180431.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180432.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 5.41 13.18 3.88 3.92 0 28391.09 04:33:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180433.00,,,,,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,180434.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.60 13.96 3.88 3.91 0 19942.42 04:33:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180435.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180436.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.87 15.33 3.90 3.91 0 3818.74 04:33:07 m : AshtechGps::processRecord() - $GPGGA,180437.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180438.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180439.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180440.00,,,,,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,180441.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180442.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.97 13.37 3.88 3.92 0 28390.66 04:33:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180443.00,,,,,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,180444.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.74 14.06 3.88 3.91 0 19942.11 04:33:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180445.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180446.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.81 15.33 3.90 3.91 0 3818.21 04:33:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180447.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180448.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180449.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180450.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180451.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180452.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 4.26 13.37 3.88 3.92 0 28390.36 04:33:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180453.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180454.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.34 14.06 3.87 3.91 0 19941.63 04:33:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180455.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180456.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 5.01 15.42 3.90 3.91 0 3817.86 04:33:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180457.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180458.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180459.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180500.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180501.00,,,,,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,180502.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 5.90 13.37 3.88 3.92 0 28389.92 04:33:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180503.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180504.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.56 14.06 3.87 3.91 0 19941.31 04:33:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180505.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180506.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.94 15.33 3.90 3.91 0 3817.33 04:33:37 m : AshtechGps::processRecord() - $GPGGA,180507.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.883333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180508.00,,,,,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,180509.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180510.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180511.00,,,,,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,180512.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 4.12 13.37 3.88 3.92 0 28389.64 04:33:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180513.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180514.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.52 14.06 3.88 3.91 0 19940.82 04:33:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180515.00,,,,,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,180516.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.94 15.42 3.90 3.91 0 3816.97 04:33:47 m : AshtechGps::processRecord() - $GPGGA,180517.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180518.00,,,,,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,180519.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180520.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180521.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180522.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.12 13.37 3.88 3.92 0 28389.18 04:33:53 m : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180523.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180524.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.67 14.16 3.88 3.91 0 19940.50 04:33:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180525.00,,,,,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,180526.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 5.29 15.42 3.90 3.91 0 3816.44 04:33:57 m : AshtechGps::processRecord() - $GPGGA,180527.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180528.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180529.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.587087 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180530.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.587087 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.587087 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.587087 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.587087 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.587087 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180531.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.587087 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.888826 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.888826 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.888826 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.888826 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180532.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.888826 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.888826 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.07 4.37 13.37 3.88 3.92 0 28388.88 04:34:03 m : DepthEnvelope -- Measured altitude 12.888826 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180533.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180534.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.935521 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.391712 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.43 1.21 14.16 3.88 3.91 0 19940.00 04:34:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180535.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180536.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.36 1.37 15.42 3.90 3.91 0 3816.12 04:34:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180537.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180538.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180539.00,,,,,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,180540.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180541.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180542.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.67 13.47 3.88 3.92 0 28388.62 04:34:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180543.00,,,,,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,180544.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.45 14.16 3.88 3.91 0 19939.83 04:34:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180545.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180546.00,,,,,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: $c1q0 d- 31.17 4.91 15.52 3.90 3.91 0 3815.73 04:34:17 m : AshtechGps::processRecord() - $GPGGA,180547.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180548.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180549.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180550.00,,,,,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,180551.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180552.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 3.75 13.47 3.88 3.92 0 28388.34 04:34:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180553.00,,,,,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,180554.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 4.20 14.06 3.88 3.91 0 19939.38 04:34:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180555.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180556.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 4.67 15.42 3.90 3.91 0 3815.40 04:34:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180557.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180558.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180559.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180600.00,,,,,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,180601.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180602.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.71 13.28 3.88 3.92 0 28387.93 04:34:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180603.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180604.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 3.98 14.06 3.88 3.91 0 19939.03 04:34:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180605.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,180606.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 4.60 15.42 3.90 3.91 0 3814.91 04:34:37 m : AshtechGps::processRecord() - $GPGGA,180607.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180608.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180609.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180610.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180611.00,,,,,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,180612.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 3.67 13.37 3.88 3.92 0 28387.68 04:34:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180613.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180614.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 3.73 14.06 3.88 3.91 0 19938.58 04:34:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180615.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180616.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.57 15.42 3.90 3.91 0 3814.59 04:34:47 m : AshtechGps::processRecord() - $GPGGA,180617.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180618.00,,,,,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,180619.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180620.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180621.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,180622.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 3.67 13.37 3.88 3.92 0 28387.30 04:34:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180623.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180624.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 3.88 13.96 3.88 3.91 0 19938.28 04:34:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180625.00,,,,,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,180626.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.74 15.42 3.90 3.91 0 3814.12 04:34:57 m : AshtechGps::processRecord() - $GPGGA,180627.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180628.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180629.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180630.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180631.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180632.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.04 13.28 3.88 3.92 0 28387.03 04:35:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180633.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180634.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.70 13.96 3.88 3.91 0 19937.83 04:35:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180635.00,,,,,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,180636.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 5.22 15.33 3.89 3.91 0 3813.78 04:35:07 m : AshtechGps::processRecord() - $GPGGA,180637.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : AshtechGps::processRecord() - $GPGGA,180638.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180639.00,,,,,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,180640.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180641.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180642.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.97 13.28 3.88 3.92 0 28386.60 04:35:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180643.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180644.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.45 13.96 3.88 3.91 0 19937.50 04:35:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180645.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180646.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 5.05 15.33 3.89 3.91 0 3813.26 04:35:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180647.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180648.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180649.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180650.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180651.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180652.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 4.00 13.28 3.88 3.92 0 28386.32 04:35:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180653.00,,,,,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,180654.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 5.57 14.06 3.87 3.91 0 19937.03 04:35:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180655.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180656.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.67 15.33 3.89 3.91 0 3812.91 04:35:27 m : AshtechGps::processRecord() - $GPGGA,180657.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,180658.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180659.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180700.00,,,,,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,180701.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180702.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.19 13.28 3.88 3.92 0 28385.89 04:35:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180703.00,,,,,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,180704.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.24 4.88 14.06 3.87 3.91 0 19936.72 04:35:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180705.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180706.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 5.01 15.42 3.89 3.91 0 3812.33 04:35:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180707.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,180708.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180709.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180710.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180711.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180712.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 4.12 13.28 3.88 3.92 0 28385.61 04:35:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180713.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180714.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.20 14.06 3.88 3.91 0 19936.23 04:35:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180715.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180716.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.17 4.64 15.42 3.89 3.91 0 3811.99 04:35:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180717.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180718.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180719.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180720.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180721.00,,,,,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,180722.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 3.97 13.37 3.88 3.92 0 28385.20 04:35:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180723.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180724.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.42 14.06 3.88 3.91 0 19935.93 04:35:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180725.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180726.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.17 4.94 15.42 3.89 3.91 0 3811.49 04:35:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180727.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180728.00,,,,,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,180729.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180730.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180731.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180732.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 3.78 13.37 3.88 3.92 0 28384.92 04:36:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180733.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.472922 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.472922 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.472922 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.472922 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180734.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.472922 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.472922 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.472922 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.28 4.24 14.06 3.88 3.91 0 19935.47 04:36:05 m : DepthEnvelope -- Measured altitude 12.551715 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.551715 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180735.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.551715 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.551715 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.551715 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.551715 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.551715 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180736.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 1.92 15.42 3.90 3.91 0 3811.15 04:36:07 m : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180737.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.405912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.255835 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180738.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180739.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180740.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180741.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180742.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.18 1.96 13.37 3.88 3.92 0 28384.72 04:36:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180743.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180744.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.31 3.52 14.06 3.88 3.91 0 19935.39 04:36:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180745.00,,,,,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,180746.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.98 15.52 3.90 3.91 0 3810.88 04:36:17 m : AshtechGps::processRecord() - $GPGGA,180747.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180748.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180749.00,,,,,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,180750.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180751.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180752.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.89 13.37 3.88 3.92 0 28384.46 04:36:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180753.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180754.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.31 14.06 3.88 3.91 0 19934.90 04:36:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180755.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180756.00,,,,,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: $c1q0 d- 31.17 4.87 15.42 3.90 3.91 0 3810.54 04:36:27 m : AshtechGps::processRecord() - $GPGGA,180757.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180758.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180759.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180800.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180801.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180802.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.52 13.37 3.88 3.92 0 28384.06 04:36:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180803.00,,,,,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,180804.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 3.88 14.06 3.88 3.91 0 19934.58 04:36:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180805.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180806.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.17 4.50 15.42 3.90 3.91 0 3810.06 04:36:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180807.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180808.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180809.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180810.00,,,,,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,180811.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.69 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180812.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4078770.6, 597631.8), reached at t = 10497.20 (wplog) : Vehicle Position is error is (-0.8, 0.3) : LayeredControl::execute() -- (t = 10497.200893) Behavior waypoint_yoyo:2446224 has changed to state Finished : LayeredControl - sending BehaviorFinished:2446224 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : BluefinBatt Reply: $aaq0 d- 31.10 3.48 13.37 3.88 3.92 0 28383.80 04:36:43 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,180813.00,,,,,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,180814.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.28 3.84 14.06 3.88 3.91 0 19934.16 04:36:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180815.00,,,,,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,180816.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 4.26 15.42 3.90 3.91 0 3809.72 04:36:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,180817.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180818.00,,,,,0,00,,,M,,M,,*40 : 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 53 behaviors : Waypoint Initialization: Begin waypoint control at t= 10503.58 (wplog) The current location (N,E) = 4078771.1 , 597620.5 (wplog) The next waypoint = 4074887.6 , 597676.5 (wplog) The bearing to the next w.p. is 179.2 Degrees. : LayeredControl::execute() -- (t = 10503.580456) Behavior waypoint_yoyo:2471286 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:2471286 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180819.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180820.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180821.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180822.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.82 13.37 3.88 3.92 0 28383.43 04:36:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180823.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180824.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 3.66 13.96 3.88 3.91 0 19933.88 04:36:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180825.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180826.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.91 15.42 3.90 3.91 0 3809.27 04:36:57 m : AshtechGps::processRecord() - $GPGGA,180827.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,180828.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180829.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180830.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180831.00,,,,,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,180832.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 4.08 13.28 3.88 3.92 0 28383.17 04:37:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180833.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180834.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.42 13.96 3.88 3.91 0 19933.46 04:37:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180835.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180836.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.87 15.33 3.90 3.91 0 3808.94 04:37:07 m : AshtechGps::processRecord() - $GPGGA,180837.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180838.00,,,,,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,180839.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180840.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180841.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180842.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 4.15 13.28 3.88 3.92 0 28382.71 04:37:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180843.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180844.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.31 13.96 3.88 3.91 0 19933.14 04:37:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180845.00,,,,,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,180846.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.17 4.67 15.42 3.90 3.91 0 3808.41 04:37:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180847.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180848.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180849.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180850.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180851.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180852.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.04 13.28 3.88 3.92 0 28382.43 04:37:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180853.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180854.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.38 13.96 3.87 3.91 0 19932.67 04:37:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180855.00,,,,,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,180856.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.91 15.42 3.89 3.91 0 3808.03 04:37:27 m : AshtechGps::processRecord() - $GPGGA,180857.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,180858.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180859.00,,,,,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,180900.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180901.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180902.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.30 13.28 3.88 3.92 0 28382.01 04:37:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180903.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180904.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.34 14.06 3.87 3.91 0 19932.36 04:37:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180905.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180906.00,,,,,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: $c1q0 d- 31.14 5.25 15.33 3.89 3.91 0 3807.50 04:37:37 m : AshtechGps::processRecord() - $GPGGA,180907.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,180908.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180909.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180910.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180911.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180912.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.08 13.28 3.88 3.91 0 28381.71 04:37:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180913.00,,,,,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,180914.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.42 14.06 3.87 3.91 0 19931.86 04:37:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180915.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180916.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 5.12 15.42 3.89 3.91 0 3807.15 04:37:47 m : AshtechGps::processRecord() - $GPGGA,180917.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,180918.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180919.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180920.00,,,,,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,180921.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180922.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.07 4.19 13.28 3.88 3.91 0 28381.27 04:37:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180923.00,,,,,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,180924.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.67 14.06 3.87 3.91 0 19931.54 04:37:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180925.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180926.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 5.01 15.33 3.89 3.91 0 3806.62 04:37:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180927.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180928.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180929.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180930.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.408316 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.408316 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180931.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.408316 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.408316 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.408316 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.408316 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.408316 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180932.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.090656 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.090656 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.07 3.56 13.37 3.88 3.92 0 28380.99 04:38:03 m : DepthEnvelope -- Measured altitude 14.090656 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.090656 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.090656 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,180933.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.090656 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.090656 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.449662 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180934.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.39 1.86 14.06 3.88 3.91 0 19931.09 04:38:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180935.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180936.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.28 1.68 15.42 3.89 3.91 0 3806.29 04:38:07 m : AshtechGps::processRecord() - $GPGGA,180937.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : AshtechGps::processRecord() - $GPGGA,180938.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180939.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180940.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180941.00,,,,,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,180942.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.14 3.93 13.37 3.88 3.92 0 28380.70 04:38:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180943.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180944.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.52 14.06 3.88 3.91 0 19930.91 04:38:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180945.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180946.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 5.39 15.42 3.89 3.91 0 3805.91 04:38:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180947.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180948.00,,,,,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,180949.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180950.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180951.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180952.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 3.71 13.28 3.88 3.92 0 28380.42 04:38:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180953.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180954.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.24 14.06 3.88 3.91 0 19930.46 04:38:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,180955.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180956.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 4.77 15.33 3.90 3.91 0 3805.60 04:38:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180957.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180958.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,180959.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181000.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181001.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181002.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.78 13.37 3.88 3.92 0 28380.01 04:38:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181003.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181004.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.13 14.06 3.88 3.91 0 19930.18 04:38:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181005.00,,,,,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,181006.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.87 15.42 3.90 3.91 0 3805.10 04:38:37 m : AshtechGps::processRecord() - $GPGGA,181007.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181008.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181009.00,,,,,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,181010.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181011.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181012.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.41 13.28 3.88 3.92 0 28379.75 04:38:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181013.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181014.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 3.73 13.96 3.88 3.91 0 19929.76 04:38:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181015.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181016.00,,,,,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: $c1q0 d- 31.17 4.50 15.42 3.90 3.91 0 3804.79 04:38:47 m : AshtechGps::processRecord() - $GPGGA,181017.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181018.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181019.00,,,,,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,181020.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181021.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181022.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 31.10 3.44 13.28 3.88 3.92 0 28379.35 04:38:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181023.00,,,,,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,181024.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.38 13.96 3.88 3.91 0 19929.47 04:38:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181025.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181026.00,,,,,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: $c1q0 d- 31.14 4.19 15.42 3.90 3.91 0 3804.35 04:38:57 m : AshtechGps::processRecord() - $GPGGA,181027.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181028.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181029.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181030.00,,,,,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,181031.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181032.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.08 13.28 3.88 3.92 0 28379.09 04:39:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181033.00,,,,,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,181034.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 5.24 13.96 3.88 3.91 0 19929.05 04:39:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181035.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181036.00,,,,,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: $c1q0 d- 31.10 5.08 15.33 3.90 3.91 0 3804.02 04:39:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181037.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181038.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181039.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181040.00,,,,,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,181041.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181042.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 4.12 13.18 3.88 3.92 0 28378.65 04:39:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181043.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181044.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.42 13.96 3.88 3.91 0 19928.74 04:39:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181045.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181046.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 4.94 15.33 3.90 3.91 0 3803.50 04:39:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181047.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181048.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181049.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181050.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181051.00,,,,,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,181052.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 3.97 13.18 3.88 3.91 0 28378.36 04:39:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181053.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181054.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.34 13.96 3.87 3.91 0 19928.26 04:39:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181055.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181056.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.94 15.33 3.89 3.91 0 3803.16 04:39:27 m : AshtechGps::processRecord() - $GPGGA,181057.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181058.00,,,,,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,181059.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181100.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181101.00,,,,,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,181102.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 3.82 13.18 3.88 3.91 0 28377.92 04:39:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181103.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181104.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.24 14.06 3.87 3.91 0 19927.95 04:39:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181105.00,,,,,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,181106.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 4.91 15.33 3.89 3.91 0 3802.69 04:39:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181107.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181108.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181109.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181110.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181111.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181112.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.82 13.37 3.88 3.91 0 28377.65 04:39:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181113.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181114.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.34 14.06 3.87 3.91 0 19927.52 04:39:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181115.00,,,,,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,181116.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 4.77 15.33 3.89 3.91 0 3802.37 04:39:47 m : AshtechGps::processRecord() - $GPGGA,181117.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,181118.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181119.00,,,,,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,181120.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181121.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181122.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.93 13.28 3.88 3.91 0 28377.24 04:39:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181123.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181124.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.27 14.06 3.87 3.91 0 19927.21 04:39:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181125.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181126.00,,,,,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: $c1q0 d- 31.10 4.91 15.42 3.89 3.91 0 3801.81 04:39:57 m : AshtechGps::processRecord() - $GPGGA,181127.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,181128.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181129.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181130.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181131.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181132.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.23 13.37 3.88 3.92 0 28376.96 04:40:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181133.00,,,,,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,181134.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.27 14.06 3.87 3.91 0 19926.74 04:40:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181135.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181136.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.67 15.42 3.89 3.91 0 3801.48 04:40:07 m : DepthEnvelope -- Measured altitude 13.620153 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181137.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.465131 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.465131 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.465131 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.465131 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : DepthEnvelope -- Measured altitude 12.465131 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181138.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.465131 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.465131 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.891522 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.891522 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.891522 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181139.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.891522 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.891522 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.891522 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.891522 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 15.697875 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181140.00,,,,,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,181141.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181142.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 0.70 13.28 3.88 3.92 0 28376.64 04:40:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181143.00,,,,,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,181144.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.31 2.51 14.06 3.87 3.91 0 19926.54 04:40:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181145.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181146.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 3.95 15.42 3.89 3.91 0 3801.15 04:40:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181147.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181148.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181149.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181150.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181151.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181152.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.26 13.37 3.88 3.91 0 28376.41 04:40:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181153.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181154.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.63 14.06 3.88 3.91 0 19926.14 04:40:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181155.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181156.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 4.98 15.42 3.89 3.91 0 3800.83 04:40:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181157.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181158.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181159.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181200.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181201.00,,,,,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,181202.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 3.75 13.28 3.88 3.91 0 28376.01 04:40:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181203.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181204.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.24 14.06 3.88 3.91 0 19925.83 04:40:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181205.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,181206.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 4.32 15.42 3.89 3.91 0 3800.33 04:40:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181207.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181208.00,,,,,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,181209.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181210.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181211.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181212.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 3.59 13.37 3.88 3.92 0 28375.76 04:40:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181213.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181214.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.34 14.06 3.88 3.91 0 19925.36 04:40:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181215.00,,,,,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,181216.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.50 15.42 3.90 3.91 0 3800.02 04:40:47 m : AshtechGps::processRecord() - $GPGGA,181217.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181218.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181219.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181220.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181221.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181222.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.56 13.28 3.88 3.92 0 28375.39 04:40:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181223.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181224.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 3.91 13.96 3.88 3.91 0 19925.05 04:40:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181225.00,,,,,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,181226.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.22 15.33 3.90 3.91 0 3799.56 04:40:57 m : AshtechGps::processRecord() - $GPGGA,181227.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181228.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181229.00,,,,,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,181230.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181231.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181232.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 31.10 3.56 13.28 3.88 3.92 0 28375.15 04:41:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181233.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181234.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.02 13.96 3.88 3.91 0 19924.65 04:41:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181235.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181236.00,,,,,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: $c1q0 d- 31.14 4.67 15.33 3.90 3.91 0 3799.25 04:41:07 m : AshtechGps::processRecord() - $GPGGA,181237.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : AshtechGps::processRecord() - $GPGGA,181238.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181239.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181240.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181241.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181242.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.78 13.28 3.88 3.92 0 28374.76 04:41:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181243.00,,,,,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,181244.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.56 13.96 3.88 3.91 0 19924.35 04:41:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181245.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181246.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 4.94 15.42 3.90 3.91 0 3798.74 04:41:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181247.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.886667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181248.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181249.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181250.00,,,,,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,181251.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181252.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.08 13.28 3.87 3.91 0 28374.46 04:41:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181253.00,,,,,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,181254.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.24 4.56 13.96 3.87 3.91 0 19923.84 04:41:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181255.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181256.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.98 15.42 3.89 3.91 0 3798.39 04:41:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181257.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181258.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181259.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181300.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181301.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181302.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.08 13.28 3.87 3.91 0 28374.03 04:41:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181303.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181304.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.70 13.96 3.87 3.91 0 19923.53 04:41:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181305.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181306.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 5.05 15.33 3.89 3.91 0 3797.86 04:41:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181307.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181308.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181309.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181310.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181311.00,,,,,0,00,,,M,,M,,*43 : 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,181312.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 4.08 13.28 3.87 3.91 0 28373.73 04:41:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181313.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181314.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.45 14.06 3.87 3.91 0 19923.07 04:41:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181315.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181316.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 5.01 15.33 3.89 3.91 0 3797.52 04:41:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181317.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181318.00,,,,,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,181319.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181320.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181321.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181322.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 4.12 13.28 3.87 3.91 0 28373.31 04:41:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181323.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181324.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.42 14.06 3.87 3.91 0 19922.75 04:41:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181325.00,,,,,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,181326.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 5.08 15.33 3.89 3.91 0 3797.00 04:41:57 m : AshtechGps::processRecord() - $GPGGA,181327.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181328.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181329.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181330.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181331.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181332.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.97 13.28 3.87 3.91 0 28373.02 04:42:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181333.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181334.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 4.60 14.06 3.87 3.91 0 19922.27 04:42:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181335.00,,,,,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,181336.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 5.05 15.33 3.89 3.91 0 3796.65 04:42:07 m : AshtechGps::processRecord() - $GPGGA,181337.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181338.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181339.00,,,,,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,181340.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181341.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181342.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.23 13.37 3.87 3.91 0 28372.59 04:42:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181343.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181344.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.24 4.38 14.06 3.87 3.91 0 19921.96 04:42:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181345.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181346.00,,,,,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: $c1q0 d- 31.14 4.84 15.42 3.89 3.91 0 3796.13 04:42:17 m : AshtechGps::processRecord() - $GPGGA,181347.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181348.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.168996 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.168996 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.168996 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.168996 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181349.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.168996 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.168996 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.168996 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181350.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181351.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.725678 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.112827 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.112827 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.112827 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.112827 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181352.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.112827 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.112827 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.22 0.70 13.37 3.88 3.91 0 28372.32 04:42:23 m : DepthEnvelope -- Measured altitude 14.112827 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.027038 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181353.00,,,,,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,181354.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.39 1.07 14.16 3.87 3.91 0 19921.60 04:42:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181355.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181356.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.28 1.82 15.52 3.89 3.91 0 3795.92 04:42:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181357.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181358.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181359.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181400.00,,,,,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,181401.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181402.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.04 13.37 3.88 3.91 0 28372.11 04:42:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181403.00,,,,,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,181404.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 4.67 14.06 3.87 3.91 0 19921.41 04:42:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181405.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181406.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 5.18 15.42 3.89 3.91 0 3795.49 04:42:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181407.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181408.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181409.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.804420 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.804420 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.804420 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.804420 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.804420 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181410.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.804420 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.804420 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 24.821009 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181411.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181412.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.04 13.37 3.87 3.91 0 28371.83 04:42:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181413.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181414.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 2.69 14.06 3.87 3.91 0 19921.02 04:42:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181415.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181416.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.05 15.42 3.89 3.91 0 3795.24 04:42:47 m : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,181417.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181418.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181419.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181420.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181421.00,,,,,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,181422.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 3.71 13.28 3.87 3.91 0 28371.52 04:42:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181423.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181424.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.31 14.06 3.87 3.91 0 19920.75 04:42:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181425.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181426.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.67 15.42 3.89 3.91 0 3794.76 04:42:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181427.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181428.00,,,,,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,181429.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181430.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181431.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181432.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 4.67 13.28 3.88 3.91 0 28371.27 04:43:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181433.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181434.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 3.91 13.96 3.87 3.91 0 19920.33 04:43:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181435.00,,,,,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,181436.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.50 15.42 3.89 3.91 0 3794.44 04:43:07 m : AshtechGps::processRecord() - $GPGGA,181437.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,181438.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181439.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181440.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181441.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181442.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.67 13.28 3.88 3.91 0 28370.88 04:43:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181443.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181444.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.13 13.96 3.87 3.91 0 19920.06 04:43:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181445.00,,,,,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,181446.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.57 15.42 3.89 3.91 0 3793.98 04:43:17 m : AshtechGps::processRecord() - $GPGGA,181447.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,181448.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181449.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181450.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181451.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181452.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 4.64 13.28 3.87 3.91 0 28370.62 04:43:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181453.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181454.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 3.91 13.96 3.87 3.91 0 19919.65 04:43:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181455.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181456.00,,,,,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: $c1q0 d- 31.14 4.81 15.33 3.89 3.91 0 3793.68 04:43:27 m : AshtechGps::processRecord() - $GPGGA,181457.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181458.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181459.00,,,,,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,181500.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181501.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181502.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.12 13.18 3.87 3.91 0 28370.21 04:43:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181503.00,,,,,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,181504.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.42 13.96 3.87 3.91 0 19919.32 04:43:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181505.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181506.00,,,,,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: $c1q0 d- 31.10 5.08 15.33 3.89 3.91 0 3793.16 04:43:37 m : AshtechGps::processRecord() - $GPGGA,181507.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181508.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181509.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181510.00,,,,,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,181511.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181512.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.97 13.18 3.87 3.91 0 28369.94 04:43:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181513.00,,,,,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,181514.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 5.03 13.96 3.87 3.91 0 19918.83 04:43:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181515.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181516.00,,,,,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: $c1q0 d- 31.10 5.05 15.33 3.89 3.90 0 3792.81 04:43:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181517.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181518.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181519.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181520.00,,,,,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,181521.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181522.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.03 3.93 13.18 3.87 3.91 0 28369.51 04:43:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181523.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181524.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.45 13.96 3.87 3.91 0 19918.52 04:43:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181525.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181526.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 5.05 15.42 3.89 3.90 0 3792.30 04:43:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181527.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181528.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181529.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181530.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181531.00,,,,,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,181532.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 5.01 13.18 3.87 3.91 0 28369.22 04:44:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181533.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181534.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.60 13.96 3.87 3.91 0 19918.03 04:44:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181535.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181536.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 5.08 15.42 3.89 3.90 0 3791.90 04:44:07 m : AshtechGps::processRecord() - $GPGGA,181537.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181538.00,,,,,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,181539.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181540.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181541.00,,,,,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,181542.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 4.52 13.18 3.87 3.91 0 28368.79 04:44:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181543.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181544.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.63 14.06 3.87 3.91 0 19917.70 04:44:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181545.00,,,,,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,181546.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 6.25 15.33 3.89 3.90 0 3791.37 04:44:17 m : AshtechGps::processRecord() - $GPGGA,181547.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181548.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181549.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181550.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181551.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181552.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 4.12 13.28 3.87 3.91 0 28368.47 04:44:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181553.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181554.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.63 14.06 3.87 3.91 0 19917.21 04:44:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181555.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181556.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.91 15.33 3.89 3.90 0 3791.03 04:44:27 m : AshtechGps::processRecord() - $GPGGA,181557.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181558.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181559.00,,,,,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,181600.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181601.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181602.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.30 13.37 3.87 3.91 0 28368.03 04:44:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181603.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181604.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.24 4.38 14.06 3.87 3.91 0 19916.90 04:44:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181605.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181606.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.793772 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.50 15.42 3.89 3.90 0 3790.53 04:44:37 m : DepthEnvelope -- Measured altitude 13.793772 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181607.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.793772 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.793772 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.793772 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.793772 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : DepthEnvelope -- Measured altitude 13.793772 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181608.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.418594 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.418594 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.418594 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.418594 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.418594 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181609.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.418594 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.418594 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181610.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.141532 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181611.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.038389 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181612.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.22 0.92 13.37 3.88 3.92 0 28367.79 04:44:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181613.00,,,,,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,181614.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 1.57 14.06 3.87 3.91 0 19916.57 04:44:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181615.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181616.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 3.53 15.42 3.89 3.91 0 3790.31 04:44:47 m : AshtechGps::processRecord() - $GPGGA,181617.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : AshtechGps::processRecord() - $GPGGA,181618.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181619.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181620.00,,,,,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,181621.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181622.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 4.04 13.28 3.88 3.92 0 28367.51 04:44:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181623.00,,,,,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,181624.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.24 4.34 14.06 3.87 3.91 0 19916.31 04:44:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181625.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181626.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.60 15.42 3.89 3.91 0 3789.82 04:44:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181627.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.704334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.704334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.704334 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.880000 : Isus::select() timeout : DepthEnvelope -- Measured altitude 14.704334 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181628.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.704334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.704334 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.704334 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 25.742481 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181629.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181630.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181631.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181632.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 1.03 13.37 3.87 3.91 0 28367.23 04:45:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181633.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181634.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 2.94 14.06 3.87 3.91 0 19915.92 04:45:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181635.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181636.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 4.05 15.33 3.89 3.91 0 3789.57 04:45:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181637.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181638.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181639.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181640.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181641.00,,,,,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,181642.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 3.89 13.37 3.87 3.91 0 28366.92 04:45:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181643.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181644.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.20 14.06 3.87 3.91 0 19915.64 04:45:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181645.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181646.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.60 15.42 3.89 3.91 0 3789.10 04:45:17 m : AshtechGps::processRecord() - $GPGGA,181647.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181648.00,,,,,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,181649.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181650.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181651.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181652.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 3.44 13.28 3.87 3.91 0 28366.67 04:45:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181653.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181654.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.34 13.96 3.87 3.91 0 19915.20 04:45:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181655.00,,,,,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,181656.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 4.74 15.42 3.89 3.91 0 3788.79 04:45:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181657.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181658.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181659.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181700.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181701.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181702.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.44 13.18 3.87 3.91 0 28366.30 04:45:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181703.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181704.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 3.98 13.96 3.87 3.91 0 19914.92 04:45:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181705.00,,,,,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,181706.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.57 15.33 3.89 3.91 0 3788.32 04:45:37 m : AshtechGps::processRecord() - $GPGGA,181707.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181708.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181709.00,,,,,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,181710.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181711.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181712.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.52 13.28 3.87 3.91 0 28366.05 04:45:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181713.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181714.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 3.84 13.86 3.87 3.91 0 19914.50 04:45:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181715.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181716.00,,,,,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: $c1q0 d- 31.06 5.05 15.33 3.89 3.90 0 3788.03 04:45:47 m : AshtechGps::processRecord() - $GPGGA,181717.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181718.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181719.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181720.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181721.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181722.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 4.04 13.18 3.87 3.91 0 28365.62 04:45:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181723.00,,,,,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,181724.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 5.39 13.86 3.87 3.91 0 19914.19 04:45:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181725.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181726.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.14 4.91 15.33 3.89 3.90 0 3787.51 04:45:57 m : AshtechGps::processRecord() - $GPGGA,181727.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181728.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181729.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181730.00,,,,,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,181731.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181732.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 4.12 13.18 3.87 3.91 0 28365.34 04:46:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181733.00,,,,,0,00,,,M,,M,,*47 : 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,181734.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.60 13.96 3.87 3.90 0 19913.70 04:46:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181735.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181736.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.87 15.33 3.89 3.90 0 3787.16 04:46:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181737.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181738.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181739.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181740.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181741.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181742.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 4.15 13.18 3.87 3.91 0 28364.90 04:46:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181743.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181744.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 5.89 13.96 3.87 3.90 0 19913.39 04:46:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181745.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181746.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 4.87 15.33 3.89 3.90 0 3786.61 04:46:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181747.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181748.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181749.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181750.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181751.00,,,,,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,181752.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 3.97 13.28 3.87 3.91 0 28364.63 04:46:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181753.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181754.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.16 14.06 3.87 3.90 0 19912.89 04:46:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181755.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181756.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.46 15.33 3.89 3.90 0 3786.28 04:46:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181757.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181758.00,,,,,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,181759.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181800.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181801.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181802.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 4.19 13.18 3.87 3.91 0 28364.23 04:46:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181803.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181804.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.52 14.06 3.87 3.90 0 19912.60 04:46:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181805.00,,,,,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,181806.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.84 15.33 3.89 3.90 0 3785.78 04:46:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181807.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181808.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181809.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181810.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181811.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181812.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.85 13.18 3.87 3.91 0 28363.95 04:46:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181813.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181814.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.34 14.06 3.87 3.91 0 19912.15 04:46:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181815.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181816.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.67 15.42 3.89 3.90 0 3785.46 04:46:47 m : AshtechGps::processRecord() - $GPGGA,181817.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181818.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181819.00,,,,,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,181820.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181821.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181822.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 31.07 3.85 13.28 3.87 3.91 0 28363.54 04:46:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181823.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181824.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.81 14.06 3.87 3.91 0 19911.83 04:46:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181825.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181826.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 4.64 15.33 3.89 3.90 0 3784.97 04:46:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181827.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181828.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181829.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181830.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.969491 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.979440 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181831.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.979440 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.979440 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.979440 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.979440 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.979440 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181832.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.979440 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.476507 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.14 2.22 13.28 3.87 3.91 0 28363.27 04:47:03 m : DepthEnvelope -- Measured altitude 14.476507 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.476507 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.476507 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,181833.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.476507 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.476507 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.476507 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.270672 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181834.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.35 1.21 14.06 3.87 3.91 0 19911.47 04:47:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181835.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181836.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.25 1.85 15.42 3.89 3.90 0 3784.74 04:47:07 m : AshtechGps::processRecord() - $GPGGA,181837.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181838.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,181839.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181840.00,,,,,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,181841.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181842.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.82 13.37 3.87 3.91 0 28363.05 04:47:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181843.00,,,,,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,181844.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.70 14.06 3.87 3.91 0 19911.28 04:47:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181845.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181846.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.98 15.42 3.89 3.90 0 3784.34 04:47:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181847.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181848.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181849.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.657303 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,181850.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 25.251812 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181851.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181852.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 0.89 13.28 3.87 3.91 0 28362.76 04:47:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181853.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181854.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 2.19 14.06 3.87 3.90 0 19910.92 04:47:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181855.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181856.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 3.74 15.33 3.89 3.90 0 3784.12 04:47:27 m : AshtechGps::processRecord() - $GPGGA,181857.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181858.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181859.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181900.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181901.00,,,,,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,181902.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 3.67 13.37 3.87 3.91 0 28362.49 04:47:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181903.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181904.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.27 14.06 3.87 3.90 0 19910.64 04:47:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181905.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181906.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.57 15.42 3.89 3.90 0 3783.66 04:47:37 m : AshtechGps::processRecord() - $GPGGA,181907.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181908.00,,,,,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,181909.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181910.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181911.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181912.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.07 3.44 13.18 3.87 3.91 0 28362.23 04:47:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181913.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181914.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 3.77 13.96 3.87 3.91 0 19910.23 04:47:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181915.00,,,,,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,181916.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.26 15.42 3.89 3.91 0 3783.36 04:47:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181917.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181918.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181919.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181920.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181921.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181922.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.56 13.28 3.87 3.91 0 28361.86 04:47:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181923.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181924.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.52 13.96 3.87 3.91 0 19909.96 04:47:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181925.00,,,,,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,181926.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.36 15.33 3.89 3.91 0 3782.84 04:47:57 m : AshtechGps::processRecord() - $GPGGA,181927.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181928.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181929.00,,,,,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,181930.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181931.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181932.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 3.56 13.18 3.87 3.91 0 28361.62 04:48:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181933.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181934.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.24 3.84 13.96 3.87 3.90 0 19909.54 04:48:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181935.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181936.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 4.50 15.33 3.89 3.90 0 3782.53 04:48:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181937.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181938.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181939.00,,,,,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,181940.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181941.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181942.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.52 13.18 3.87 3.91 0 28361.22 04:48:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181943.00,,,,,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,181944.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.56 13.96 3.87 3.90 0 19909.24 04:48:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181945.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181946.00,,,,,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: $c1q0 d- 31.06 5.63 15.23 3.89 3.90 0 3782.02 04:48:17 m : AshtechGps::processRecord() - $GPGGA,181947.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181948.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181949.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181950.00,,,,,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,181951.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181952.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 4.00 13.18 3.87 3.91 0 28360.92 04:48:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181953.00,,,,,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,181954.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.42 13.96 3.87 3.90 0 19908.76 04:48:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181955.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181956.00,,,,,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: $c1q0 d- 31.06 4.94 15.23 3.89 3.90 0 3781.67 04:48:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,181957.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,181958.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,181959.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182000.00,,,,,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,182001.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182002.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.12 13.18 3.87 3.91 0 28360.49 04:48:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182003.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182004.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.52 13.96 3.87 3.90 0 19908.44 04:48:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182005.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182006.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.94 15.23 3.89 3.90 0 3781.16 04:48:37 m : AshtechGps::processRecord() - $GPGGA,182007.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182008.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182009.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182010.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182011.00,,,,,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,182012.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 4.12 13.28 3.87 3.91 0 28360.21 04:48:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182013.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182014.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.49 13.96 3.87 3.90 0 19907.93 04:48:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182015.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182016.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 5.35 15.33 3.89 3.90 0 3780.81 04:48:47 m : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,182017.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182018.00,,,,,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,182019.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182020.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182021.00,,,,,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,182022.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 4.15 13.18 3.87 3.91 0 28359.79 04:48:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182023.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182024.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.60 14.06 3.87 3.90 0 19907.60 04:48:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182025.00,,,,,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,182026.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.06 6.39 15.33 3.89 3.90 0 3780.28 04:48:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182027.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182028.00,,,,,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,182029.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182030.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182031.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182032.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.85 13.28 3.87 3.91 0 28359.50 04:49:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182033.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182034.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.38 14.06 3.87 3.90 0 19907.13 04:49:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182035.00,,,,,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,182036.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.77 15.33 3.89 3.90 0 3779.93 04:49:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182037.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182038.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182039.00,,,,,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,182040.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182041.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182042.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.89 13.28 3.87 3.91 0 28359.08 04:49:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182043.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,182044.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.52 14.06 3.87 3.90 0 19906.80 04:49:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182045.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182046.00,,,,,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: $c1q0 d- 31.10 4.87 15.33 3.89 3.90 0 3779.42 04:49:17 m : AshtechGps::processRecord() - $GPGGA,182047.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182048.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182049.00,,,,,0,00,,,M,,M,,*4E : 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,182050.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182051.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182052.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.671100 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.03 3.89 13.37 3.87 3.91 0 28358.81 04:49:23 m : DepthEnvelope -- Measured altitude 12.722096 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.722096 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.722096 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182053.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.722096 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.722096 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.722096 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.722096 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.247225 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182054.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.247225 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.247225 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.247225 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.31 1.61 14.06 3.87 3.90 0 19906.33 04:49:25 m : DepthEnvelope -- Measured altitude 14.247225 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.247225 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182055.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.247225 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.309056 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182056.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.21 1.54 15.42 3.89 3.90 0 3779.10 04:49:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182057.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182058.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182059.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182100.00,,,,,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,182101.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182102.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.52 13.37 3.87 3.91 0 28358.56 04:49:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182103.00,,,,,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,182104.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.42 14.06 3.87 3.90 0 19906.17 04:49:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182105.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182106.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.67 15.42 3.89 3.90 0 3778.72 04:49:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182107.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182108.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182109.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182110.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182111.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.844942 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 25.537962 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182112.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.82 13.37 3.87 3.91 0 28358.24 04:49:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182113.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182114.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.35 1.14 14.06 3.87 3.90 0 19905.74 04:49:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182115.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182116.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 2.85 15.42 3.88 3.90 0 3778.45 04:49:47 m : AshtechGps::processRecord() - $GPGGA,182117.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,182118.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182119.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182120.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182121.00,,,,,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,182122.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 31.07 3.59 13.28 3.87 3.91 0 28357.97 04:49:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182123.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182124.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.34 14.06 3.87 3.90 0 19905.51 04:49:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182125.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182126.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.74 15.42 3.88 3.90 0 3778.02 04:49:57 m : AshtechGps::processRecord() - $GPGGA,182127.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182128.00,,,,,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,182129.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182130.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182131.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182132.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 3.75 13.28 3.87 3.91 0 28357.71 04:50:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182133.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182134.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.20 13.96 3.87 3.90 0 19905.07 04:50:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182135.00,,,,,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,182136.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.64 15.33 3.89 3.90 0 3777.70 04:50:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182137.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182138.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182139.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182140.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182141.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182142.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.63 13.18 3.87 3.91 0 28357.31 04:50:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182143.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182144.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 4.13 13.96 3.87 3.90 0 19904.78 04:50:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182145.00,,,,,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,182146.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.57 15.33 3.89 3.90 0 3777.23 04:50:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182147.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182148.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182149.00,,,,,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,182150.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182151.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182152.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 3.30 13.18 3.87 3.91 0 28357.06 04:50:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182153.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182154.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 3.88 13.96 3.87 3.90 0 19904.36 04:50:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182155.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182156.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 4.60 15.33 3.89 3.90 0 3776.92 04:50:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182157.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182158.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182159.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182200.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182201.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182202.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 3.89 13.18 3.87 3.91 0 28356.68 04:50:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182203.00,,,,,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,182204.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.20 13.86 3.87 3.90 0 19904.06 04:50:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182205.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182206.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 4.91 15.33 3.89 3.90 0 3776.44 04:50:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182207.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182208.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182209.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182210.00,,,,,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,182211.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182212.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.03 4.08 13.18 3.87 3.91 0 28356.40 04:50:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182213.00,,,,,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,182214.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.52 13.96 3.87 3.90 0 19903.58 04:50:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182215.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182216.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 5.12 15.33 3.89 3.90 0 3776.09 04:50:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182217.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182218.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182219.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182220.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182221.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.13 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182222.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.04 13.18 3.87 3.91 0 28355.97 04:50:53 m : LayeredControl::execute() -- (t = 11347.592637) Behavior waypoint_yoyo:2471286 has changed to state Finished : LayeredControl - sending BehaviorFinished:2471286 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,182223.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182224.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.49 13.96 3.87 3.90 0 19903.26 04:50:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182225.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,182226.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 4.67 15.33 3.89 3.90 0 3775.58 04:50:57 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,182227.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,182228.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 54 behaviors : LayeredControl::execute() -- (t = 11353.382240) Behavior ascend:2760847 has changed to state Active : LayeredControl - ascend BehaviorStarted:2760847 msg to VcsServer : 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,182229.00,,,,,0,00,,,M,,M,,*4A : 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,182230.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182231.00,,,,,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,182232.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 31.07 3.15 13.28 3.87 3.91 0 28355.69 04:51:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182233.00,,,,,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,182234.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 3.30 13.96 3.86 3.90 0 19902.82 04:51:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182235.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,182236.00,,,,,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: $c1q0 d- 31.10 3.50 15.42 3.89 3.90 0 3775.28 04:51:07 m : AshtechGps::processRecord() - $GPGGA,182237.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182238.00,,,,,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,182239.00,,,,,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,182240.00,,,,,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,182241.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182242.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 31.10 2.55 13.18 3.87 3.91 0 28355.41 04:51:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182243.00,,,,,0,00,,,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,182244.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 3.01 13.96 3.86 3.90 0 19902.61 04:51:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182245.00,,,,,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,182246.00,,,,,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: $c1q0 d- 31.14 3.91 15.33 3.89 3.90 0 3774.87 04:51:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182247.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.873333 : 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,182248.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182249.00,,,,,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,182250.00,,,,,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,182251.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182252.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 2.48 13.28 3.88 3.92 0 28355.23 04:51:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182253.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,182254.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.24 3.12 14.06 3.88 3.91 0 19902.29 04:51:25 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,182255.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182256.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 31.17 3.40 15.42 3.89 3.91 0 3774.63 04:51:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182257.00,,,,,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 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : AshtechGps::processRecord() - $GPGGA,182258.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182259.00,,,,,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,182300.00,,,,,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 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182301.00,,,,,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,182302.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 2.33 13.28 3.88 3.92 0 28354.98 04:51:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182303.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,182304.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.28 2.87 13.96 3.88 3.91 0 19902.04 04:51:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182305.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,182306.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.17 3.19 15.33 3.89 3.91 0 3774.29 04:51:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182307.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.13 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182308.00,,,,,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,182309.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182310.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,182311.00,,,,,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 : LayeredControl::execute() -- (t = 11396.799266) Behavior ascend:2760847 has changed to state Finished : LayeredControl - sending BehaviorFinished:2760847 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,182312.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 2.52 13.18 3.88 3.92 0 28354.82 04:51:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182313.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 55 behaviors : LayeredControl::execute() -- (t = 11398.569145) Behavior getgps:2773166 has changed to state Active : LayeredControl - getgps BehaviorStarted:2773166 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182314.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.24 3.08 13.96 3.88 3.91 0 19901.72 04:51:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182315.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182316.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.17 2.67 15.33 3.89 3.91 0 3774.06 04:51:47 m : AshtechGps::processRecord() - $GPGGA,182317.00,,,,,0,00,,,M,,M,,*46 : 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 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : AshtechGps::processRecord() - $GPGGA,182318.00,3650.28811,N,12154.16826,W,1,06,2.1,-3.30,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 1 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,182319.00,3650.28736,N,12154.16805,W,1,06,2.1,-3.11,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182320.00,3650.28744,N,12154.16787,W,1,05,4.6,-3.11,M,-32.59,M,,*7C : 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,182321.00,3650.28760,N,12154.16776,W,1,05,2.6,-3.21,M,-32.59,M,,*70 : 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,182322.00,3650.28743,N,12154.16741,W,1,05,2.6,-2.81,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.14 2.07 13.18 3.88 3.92 0 28354.66 04:51:53 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,182323.00,3650.28671,N,12154.16746,W,1,05,2.6,-2.83,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182324.00,3650.28570,N,12154.16773,W,1,07,1.8,-3.68,M,-32.59,M,,*71 : 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 : BluefinBatt Reply: $c0q0 d- 31.31 1.39 13.86 3.88 3.91 0 19901.59 04:51:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182325.00,3650.28533,N,12154.16759,W,1,07,1.8,-3.53,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 8 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,182326.00,3650.28509,N,12154.16715,W,1,07,1.8,-3.23,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 9 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 1.61 15.23 3.89 3.91 0 3773.88 04:51:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182327.00,3650.28453,N,12154.16682,W,1,07,1.8,-3.32,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.880000, mean min cell voltage 3.883333 : AshtechGps::processRecord() - $GPGGA,182328.00,3650.28417,N,12154.16673,W,1,07,1.8,-3.71,M,-32.59,M,,*74 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182329.00,3650.28404,N,12154.16659,W,1,07,1.8,-3.90,M,-32.59,M,,*70 : 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,182330.00,3650.28366,N,12154.16652,W,1,07,1.8,-3.41,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182331.00,3650.28334,N,12154.16612,W,1,07,1.8,-2.96,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,182332.00,3650.28293,N,12154.16563,W,1,07,1.8,-3.26,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 15 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.18 0.77 13.18 3.89 3.92 0 28354.60 04:52:03 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,182333.00,3650.28270,N,12154.16535,W,1,07,1.8,-3.34,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 16 of 30 needed : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182334.00,3650.28250,N,12154.16516,W,1,07,1.8,-3.39,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 17 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.35 1.25 13.86 3.89 3.92 0 19901.48 04:52:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182335.00,3650.28199,N,12154.16501,W,1,08,1.1,-3.64,M,-32.59,M,,*7F : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182336.00,3650.28201,N,12154.16480,W,1,08,1.1,-3.25,M,-32.59,M,,*73 : 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 : BluefinBatt Reply: $c1q0 d- 31.21 1.51 15.23 3.91 3.92 0 3773.76 04:52:07 m : AshtechGps::processRecord() - $GPGGA,182337.00,3650.28186,N,12154.16460,W,1,08,1.1,-3.11,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,182338.00,3650.28184,N,12154.16424,W,1,08,1.1,-2.87,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 21 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,182339.00,3650.28164,N,12154.16390,W,1,08,1.1,-2.78,M,-32.59,M,,*73 : 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,182340.00,3650.28161,N,12154.16334,W,1,08,1.1,-2.79,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 23 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182341.00,3650.28146,N,12154.16288,W,1,08,1.1,-3.33,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 24 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182342.00,3650.28127,N,12154.16283,W,1,08,1.1,-3.88,M,-32.59,M,,*75 : 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- 31.18 0.81 13.18 3.89 3.92 0 28354.52 04:52:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182343.00,3650.28118,N,12154.16299,W,1,08,1.1,-3.88,M,-32.59,M,,*73 : 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,182344.00,3650.28106,N,12154.16300,W,1,08,1.1,-3.37,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.35 1.18 13.86 3.89 3.92 0 19901.41 04:52:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182345.00,3650.28104,N,12154.16258,W,1,08,1.1,-2.92,M,-32.59,M,,*7F : 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,182346.00,3650.28087,N,12154.16210,W,1,08,1.1,-2.84,M,-32.59,M,,*7D : 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 : BluefinBatt Reply: $c1q0 d- 31.25 1.47 15.23 3.91 3.92 0 3773.60 04:52:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182347.00,3650.28075,N,12154.16163,W,1,08,1.1,-2.79,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 11432.196841) Behavior getgps:2773166 has changed to state Finished : LayeredControl - sending BehaviorFinished:2773166 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182348.00,3650.28056,N,12154.16108,W,1,08,1.1,-3.13,M,-32.59,M,,*7A : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 56 behaviors : LayeredControl::execute() -- (t = 11433.766733) Behavior setpoint:2782371 has changed to state Active : LayeredControl - setpoint BehaviorStarted:2782371 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182349.00,3650.28047,N,12154.16076,W,1,08,1.1,-3.63,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,182350.00,3650.28060,N,12154.16064,W,1,08,1.1,-3.82,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,182351.00,3650.28057,N,12154.16073,W,1,08,1.1,-4.00,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182352.00,3650.28070,N,12154.16078,W,1,08,1.1,-3.47,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 31.18 0.92 13.18 3.89 3.92 0 28354.46 04:52:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182353.00,3650.28068,N,12154.16055,W,1,08,1.1,-3.06,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,182354.00,3650.28061,N,12154.16004,W,1,08,1.1,-3.01,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 31.39 1.03 13.86 3.89 3.92 0 19901.30 04:52:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182355.00,3650.28047,N,12154.15962,W,1,08,1.1,-3.05,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182356.00,3650.28040,N,12154.15927,W,1,08,1.1,-3.26,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: $c1q0 d- 31.25 1.51 15.13 3.91 3.92 0 3773.49 04:52:27 m : AshtechGps::processRecord() - $GPGGA,182357.00,3650.28033,N,12154.15904,W,1,08,1.1,-3.58,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 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,182358.00,3650.28038,N,12154.15888,W,1,08,1.1,-3.63,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182359.00,3650.28043,N,12154.15877,W,1,08,1.1,-3.63,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,182400.00,3650.28054,N,12154.15866,W,1,08,1.1,-3.74,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,182401.00,3650.28063,N,12154.15857,W,1,08,1.1,-3.31,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182402.00,3650.28070,N,12154.15822,W,1,08,1.1,-3.33,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 31.14 0.81 13.18 3.89 3.92 0 28354.37 04:52:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182403.00,3650.28061,N,12154.15788,W,1,08,1.1,-3.44,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,182404.00,3650.28069,N,12154.15778,W,1,08,1.1,-3.50,M,-32.59,M,,*7C : BluefinBatt Reply: $c0q0 d- 31.28 2.58 13.86 3.89 3.92 0 19901.22 04:52:35 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,182405.00,3650.28067,N,12154.15753,W,1,08,1.1,-3.24,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182406.00,3650.28075,N,12154.15727,W,1,08,1.1,-3.31,M,-32.59,M,,*7E : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 31.28 1.44 15.23 3.91 3.92 0 3773.32 04:52:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182407.00,3650.28077,N,12154.15698,W,1,08,1.1,-3.22,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 3.896667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182408.00,3650.28091,N,12154.15678,W,1,08,1.1,-3.59,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182409.00,3650.28100,N,12154.15667,W,1,08,1.1,-3.59,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182410.00,3650.28113,N,12154.15658,W,1,08,1.1,-3.44,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,182411.00,3650.28119,N,12154.15627,W,1,08,1.1,-3.45,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,182412.00,3650.28127,N,12154.15608,W,1,08,1.1,-3.91,M,-32.59,M,,*7B : BluefinBatt Reply: $aaq0 d- 31.14 1.03 13.08 3.89 3.93 0 28354.31 04:52:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182413.00,3650.28133,N,12154.15615,W,1,08,1.1,-3.91,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : LayeredControl::execute() -- (t = 11458.795019) Behavior setpoint:2782371 has changed to state Finished : LayeredControl - sending BehaviorFinished:2782371 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,182414.00,3650.28138,N,12154.15618,W,1,08,1.1,-3.78,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.39 1.14 13.86 3.89 3.92 0 19901.12 04:52:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182415.00,3650.28152,N,12154.15611,W,1,08,1.1,-3.36,M,-32.59,M,,*7B : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : StatePublisher: Updating state vector : DynoLayeredControl::insert - stack now contains 57 behaviors : LayeredControl::execute() -- (t = 11460.964870) Behavior setpoint:2789708 has changed to state Active : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl - setpoint BehaviorStarted:2789708 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182416.00,3650.28160,N,12154.15571,W,1,08,1.1,-2.87,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.21 1.51 15.23 3.91 3.92 0 3773.21 04:52:47 m : AshtechGps::processRecord() - $GPGGA,182417.00,3650.28183,N,12154.15531,W,1,08,1.1,-2.91,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : DynoLayeredControlServer insertBehaves : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 58 behaviors : AshtechGps::processRecord() - $GPGGA,182418.00,3650.28182,N,12154.15483,W,1,08,1.1,-3.18,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182419.00,3650.28199,N,12154.15457,W,1,08,1.1,-3.76,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182420.00,3650.28211,N,12154.15452,W,1,08,1.1,-4.23,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl::execute() -- (t = 11465.994526) Behavior setpoint:2789708 has changed to state Finished : LayeredControl - sending BehaviorFinished:2789708 msg to VcsServer : LayeredControl::execute() -- (t = 11465.994526) Behavior descend:2789666 has changed to state Active : LayeredControl - descend BehaviorStarted:2789666 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,182421.00,3650.28219,N,12154.15462,W,1,08,1.1,-4.30,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182422.00,3650.28228,N,12154.15453,W,1,08,1.1,-3.76,M,-32.59,M,,*71 : BluefinBatt Reply: $aaq0 d- 31.07 3.75 13.08 3.89 3.93 0 28354.16 04:52:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182423.00,3650.28249,N,12154.15404,W,1,08,1.1,-3.54,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182424.00,3650.28284,N,12154.15351,W,1,08,1.1,-3.59,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.24 13.86 3.89 3.92 0 19900.97 04:52:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182425.00,3650.28313,N,12154.15297,W,1,08,1.1,-3.36,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182426.00,3650.28342,N,12154.15236,W,1,08,1.1,-3.28,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 5.42 15.23 3.91 3.92 0 3772.86 04:52:57 m : AshtechGps::processRecord() - $GPGGA,182427.00,3650.28386,N,12154.15183,W,1,08,1.1,-3.61,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.896667 : AshtechGps::processRecord() - $GPGGA,182428.00,3650.28438,N,12154.15148,W,1,08,1.1,-3.92,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182429.00,3650.28478,N,12154.15108,W,1,08,1.1,-3.90,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182430.00,3650.28528,N,12154.15063,W,1,08,1.1,-3.79,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182431.00,3650.28578,N,12154.15046,W,1,08,1.1,-3.97,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182432.00,3650.28632,N,12154.15039,W,1,08,1.1,-4.04,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 31.07 3.33 13.18 3.87 3.91 0 28353.90 04:53:03 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182433.00,3650.28696,N,12154.15034,W,1,08,1.1,-3.93,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182434.00,3650.28760,N,12154.15035,W,1,08,1.1,-3.98,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 3.41 13.86 3.87 3.91 0 19900.57 04:53:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182435.00,3650.28825,N,12154.15026,W,1,08,1.1,-4.39,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182436.00,,,,,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: $c1q0 d- 31.10 4.77 15.13 3.89 3.91 0 3772.58 04:53:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182437.00,,,,,0,02,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182438.00,,,,,0,02,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182439.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182440.00,,,,,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,182441.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182442.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.12 13.08 3.87 3.91 0 28353.49 04:53:13 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182443.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.213004 > 2.000000 at time 11488.592978 : LayeredControl::execute() -- (t = 11488.592978) Behavior descend:2789666 has changed to state Finished : LayeredControl - sending BehaviorFinished:2789666 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,182444.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.45 13.86 3.87 3.91 0 19900.27 04:53:15 m : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 59 behaviors : Waypoint Initialization: Begin waypoint control at t= 11490.17 (wplog) The current location (N,E) = 4077486.5 , 597852.7 (wplog) The next waypoint = 4074887.6 , 597676.5 (wplog) The bearing to the next w.p. is 183.9 Degrees. : LayeredControl::execute() -- (t = 11490.172869) Behavior waypoint_yoyo:2797695 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:2797695 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,182445.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182446.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.77 15.13 3.89 3.91 0 3772.06 04:53:17 m : AshtechGps::processRecord() - $GPGGA,182447.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182448.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182449.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182450.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182451.00,,,,,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,182452.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 4.08 13.18 3.87 3.91 0 28353.17 04:53:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182453.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182454.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.38 13.86 3.87 3.90 0 19899.80 04:53:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182455.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182456.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.06 5.35 15.23 3.88 3.89 0 3771.72 04:53:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182457.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182458.00,,,,,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,182459.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182500.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182501.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182502.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.18 0.89 13.08 3.87 3.91 0 28352.73 04:53:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182503.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182504.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.31 1.94 13.86 3.87 3.90 0 19899.48 04:53:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182505.00,,,,,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,182506.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.14 3.91 15.13 3.88 3.89 0 3771.26 04:53:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182507.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182508.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182509.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182510.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182511.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182512.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.08 13.18 3.87 3.91 0 28352.51 04:53:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182513.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182514.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.60 13.86 3.87 3.90 0 19899.06 04:53:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182515.00,,,,,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,182516.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.02 4.94 15.13 3.89 3.90 0 3770.92 04:53:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182517.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182518.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182519.00,,,,,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,182520.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182521.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182522.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.08 13.18 3.87 3.91 0 28352.09 04:53:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182523.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182524.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.56 13.86 3.87 3.90 0 19898.75 04:53:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182525.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182526.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.06 4.98 15.13 3.89 3.90 0 3770.40 04:53:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182527.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182528.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182529.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182530.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182531.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182532.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.37 13.18 3.87 3.91 0 28351.80 04:54:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182533.00,,,,,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,182534.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.74 13.86 3.87 3.90 0 19898.27 04:54:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182535.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182536.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.98 15.23 3.89 3.90 0 3769.99 04:54:07 m : AshtechGps::processRecord() - $GPGGA,182537.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182538.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182539.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182540.00,,,,,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,182541.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182542.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 5.56 13.18 3.87 3.91 0 28351.36 04:54:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182543.00,,,,,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,182544.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.16 4.74 13.96 3.87 3.90 0 19897.93 04:54:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182545.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182546.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.06 5.05 15.13 3.89 3.90 0 3769.46 04:54:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182547.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182548.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182549.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182550.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182551.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182552.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.12 13.37 3.87 3.91 0 28351.03 04:54:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182553.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182554.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.85 13.96 3.87 3.90 0 19897.46 04:54:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182555.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182556.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.87 15.23 3.88 3.90 0 3769.12 04:54:27 m : AshtechGps::processRecord() - $GPGGA,182557.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,182558.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182559.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182600.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182601.00,,,,,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,182602.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 4.00 13.37 3.87 3.91 0 28350.58 04:54:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182603.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182604.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.34 13.96 3.87 3.90 0 19897.16 04:54:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182605.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182606.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 5.01 15.33 3.88 3.90 0 3768.61 04:54:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182607.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182608.00,,,,,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,182609.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,182610.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182611.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182612.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 4.12 13.37 3.87 3.91 0 28350.31 04:54:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182613.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182614.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.20 4.20 14.06 3.87 3.90 0 19896.72 04:54:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182615.00,,,,,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,182616.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.64 15.33 3.89 3.90 0 3768.26 04:54:47 m : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,182617.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182618.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.367062 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.466515 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.466515 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.466515 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182619.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.466515 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.466515 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.466515 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.466515 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 15.046208 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,182620.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182621.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182622.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.14 0.89 13.37 3.87 3.91 0 28350.01 04:54:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182623.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182624.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.28 2.22 14.06 3.87 3.90 0 19896.51 04:54:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182625.00,,,,,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,182626.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 3.95 15.33 3.89 3.90 0 3767.93 04:54:57 m : AshtechGps::processRecord() - $GPGGA,182627.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182628.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182629.00,,,,,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,182630.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182631.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182632.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.85 13.37 3.87 3.91 0 28349.78 04:55:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182633.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182634.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.13 14.06 3.87 3.90 0 19896.13 04:55:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182635.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182636.00,,,,,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: $c1q0 d- 31.06 5.39 15.42 3.89 3.90 0 3767.60 04:55:07 m : AshtechGps::processRecord() - $GPGGA,182637.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182638.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182639.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182640.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182641.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182642.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.78 13.37 3.87 3.91 0 28349.38 04:55:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182643.00,,,,,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,182644.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 3.88 14.06 3.87 3.90 0 19895.84 04:55:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182645.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182646.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.26 15.42 3.89 3.90 0 3767.11 04:55:17 m : AshtechGps::processRecord() - $GPGGA,182647.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182648.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182649.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182650.00,,,,,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,182651.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182652.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.48 13.37 3.87 3.91 0 28349.13 04:55:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182653.00,,,,,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,182654.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 4.02 14.06 3.87 3.90 0 19895.40 04:55:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182655.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182656.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.53 15.42 3.89 3.90 0 3766.81 04:55:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182657.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182658.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182659.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182700.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182701.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182702.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.85 13.28 3.87 3.91 0 28348.71 04:55:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182703.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182704.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 3.91 13.96 3.87 3.90 0 19895.12 04:55:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182705.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182706.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.70 15.42 3.89 3.90 0 3766.34 04:55:37 m : AshtechGps::processRecord() - $GPGGA,182707.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182708.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182709.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182710.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182711.00,,,,,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,182712.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 3.82 13.28 3.87 3.91 0 28348.46 04:55:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182713.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182714.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 3.84 13.96 3.86 3.90 0 19894.71 04:55:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182715.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182716.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.36 15.33 3.89 3.90 0 3766.03 04:55:47 m : AshtechGps::processRecord() - $GPGGA,182717.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182718.00,,,,,0,00,,,M,,M,,*4D : 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,182719.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182720.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182721.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182722.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.03 3.37 13.37 3.87 3.91 0 28348.09 04:55:53 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182723.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182724.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.09 13.96 3.86 3.90 0 19894.43 04:55:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182725.00,,,,,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,182726.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.06 4.53 15.33 3.89 3.90 0 3765.56 04:55:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182727.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182728.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182729.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182730.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182731.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182732.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.19 13.28 3.87 3.91 0 28347.83 04:56:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182733.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182734.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.67 13.96 3.87 3.90 0 19893.94 04:56:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182735.00,,,,,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,182736.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 5.12 15.33 3.88 3.90 0 3765.21 04:56:07 m : AshtechGps::processRecord() - $GPGGA,182737.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,182738.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182739.00,,,,,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,182740.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182741.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182742.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.19 13.28 3.87 3.91 0 28347.36 04:56:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182743.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182744.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.38 13.96 3.87 3.90 0 19893.61 04:56:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182745.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182746.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.02 5.15 15.23 3.88 3.90 0 3764.69 04:56:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182747.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,182748.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182749.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182750.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182751.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182752.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.15 13.18 3.87 3.90 0 28347.07 04:56:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182753.00,,,,,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,182754.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.63 14.06 3.86 3.90 0 19893.12 04:56:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182755.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182756.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 5.05 15.33 3.88 3.89 0 3764.34 04:56:27 m : AshtechGps::processRecord() - $GPGGA,182757.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : AshtechGps::processRecord() - $GPGGA,182758.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182759.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182800.00,,,,,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,182801.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182802.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.04 13.28 3.87 3.90 0 28346.63 04:56:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182803.00,,,,,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,182804.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.45 14.06 3.86 3.90 0 19892.80 04:56:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182805.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182806.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.87 15.33 3.88 3.89 0 3763.84 04:56:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182807.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : AshtechGps::processRecord() - $GPGGA,182808.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182809.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182810.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182811.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182812.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.71 13.28 3.87 3.91 0 28346.36 04:56:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182813.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182814.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.52 14.06 3.86 3.90 0 19892.33 04:56:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182815.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182816.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.81 15.33 3.88 3.90 0 3763.51 04:56:47 m : AshtechGps::processRecord() - $GPGGA,182817.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : AshtechGps::processRecord() - $GPGGA,182818.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182819.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182820.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182821.00,,,,,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,182822.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 3.93 13.37 3.87 3.91 0 28345.95 04:56:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182823.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182824.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.92 14.06 3.86 3.90 0 19892.03 04:56:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182825.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182826.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.81 15.42 3.88 3.90 0 3763.01 04:56:57 m : AshtechGps::processRecord() - $GPGGA,182827.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182828.00,,,,,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,182829.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182830.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182831.00,,,,,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,182832.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 3.82 13.28 3.87 3.91 0 28345.68 04:57:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182833.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182834.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.34 14.06 3.87 3.90 0 19891.52 04:57:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182835.00,,,,,0,00,,,M,,M,,*4D : 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,182836.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.02 4.87 15.42 3.88 3.89 0 3762.67 04:57:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182837.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182838.00,,,,,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,182839.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182840.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182841.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182842.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.63 13.28 3.87 3.91 0 28345.24 04:57:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.953637 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182843.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.953637 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.953637 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.953637 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.953637 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.953637 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182844.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.953637 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.16 4.16 14.06 3.87 3.90 0 19891.21 04:57:15 m : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182845.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.278453 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.809561 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182846.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.809561 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.809561 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.809561 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.17 1.64 15.42 3.88 3.89 0 3762.19 04:57:17 m : DepthEnvelope -- Measured altitude 14.809561 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.809561 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,182847.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.809561 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.595726 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182848.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182849.00,,,,,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,182850.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182851.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182852.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.07 2.18 13.37 3.89 3.92 0 28345.10 04:57:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182853.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182854.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 3.55 14.16 3.89 3.91 0 19890.93 04:57:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182855.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182856.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 4.60 15.52 3.90 3.91 0 3762.02 04:57:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182857.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.893333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182858.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182859.00,,,,,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,182900.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182901.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182902.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.04 13.37 3.89 3.92 0 28344.73 04:57:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182903.00,,,,,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,182904.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.60 14.16 3.89 3.91 0 19890.61 04:57:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182905.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182906.00,,,,,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: $c1q0 d- 31.02 4.91 15.42 3.90 3.91 0 3761.51 04:57:37 m : AshtechGps::processRecord() - $GPGGA,182907.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.890000, mean min cell voltage 3.893333 : AshtechGps::processRecord() - $GPGGA,182908.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182909.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182910.00,,,,,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,182911.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182912.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.63 13.37 3.87 3.91 0 28344.46 04:57:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182913.00,,,,,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,182914.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.13 14.06 3.87 3.90 0 19890.15 04:57:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182915.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182916.00,,,,,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: $c1q0 d- 31.02 4.36 15.42 3.88 3.89 0 3761.19 04:57:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182917.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,182918.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182919.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182920.00,,,,,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,182921.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182922.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.59 13.28 3.87 3.91 0 28344.08 04:57:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182923.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182924.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.16 14.06 3.87 3.90 0 19889.88 04:57:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182925.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182926.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.46 15.42 3.88 3.89 0 3760.72 04:57:57 m : AshtechGps::processRecord() - $GPGGA,182927.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,182928.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182929.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182930.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182931.00,,,,,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,182932.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 3.44 13.37 3.87 3.91 0 28343.84 04:58:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182933.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182934.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.09 14.06 3.87 3.90 0 19889.44 04:58:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182935.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182936.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 4.64 15.42 3.89 3.90 0 3760.37 04:58:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182937.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182938.00,,,,,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,182939.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182940.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182941.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182942.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 3.48 13.37 3.87 3.91 0 28343.47 04:58:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182943.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182944.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.09 13.96 3.87 3.90 0 19889.15 04:58:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182945.00,,,,,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,182946.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.36 15.42 3.89 3.90 0 3759.90 04:58:17 m : AshtechGps::processRecord() - $GPGGA,182947.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182948.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182949.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182950.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182951.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182952.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.56 13.37 3.87 3.91 0 28343.23 04:58:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182953.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182954.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.09 13.96 3.87 3.90 0 19888.74 04:58:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,182955.00,,,,,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,182956.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.10 4.70 15.33 3.89 3.90 0 3759.61 04:58:27 m : AshtechGps::processRecord() - $GPGGA,182957.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,182958.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,182959.00,,,,,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,183000.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183001.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183002.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.23 13.18 3.87 3.91 0 28342.83 04:58:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183003.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183004.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.52 13.96 3.87 3.90 0 19888.43 04:58:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183005.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183006.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 31.02 5.12 15.42 3.89 3.90 0 3759.09 04:58:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183007.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,183008.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183009.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183010.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183011.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183012.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.30 13.28 3.86 3.90 0 28342.54 04:58:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183013.00,,,,,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,183014.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.60 13.96 3.86 3.89 0 19887.95 04:58:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183015.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183016.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 6.42 15.42 3.88 3.89 0 3758.74 04:58:47 m : AshtechGps::processRecord() - $GPGGA,183017.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183018.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183019.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183020.00,,,,,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,183021.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183022.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.04 13.18 3.86 3.90 0 28342.11 04:58:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183023.00,,,,,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,183024.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.56 14.06 3.86 3.89 0 19887.63 04:58:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183025.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183026.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.91 15.42 3.88 3.89 0 3758.18 04:58:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183027.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183028.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183029.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183030.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183031.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183032.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.89 13.37 3.86 3.90 0 28341.83 04:59:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183033.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183034.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.20 14.06 3.86 3.89 0 19887.14 04:59:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183035.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183036.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.60 15.42 3.88 3.89 0 3757.84 04:59:07 m : AshtechGps::processRecord() - $GPGGA,183037.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183038.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183039.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183040.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183041.00,,,,,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,183042.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 4.23 13.37 3.86 3.90 0 28341.39 04:59:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183043.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183044.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.31 14.06 3.86 3.89 0 19886.84 04:59:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183045.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183046.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.84 15.42 3.88 3.89 0 3757.34 04:59:17 m : AshtechGps::processRecord() - $GPGGA,183047.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183048.00,,,,,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,183049.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183050.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183051.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183052.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 4.04 13.37 3.86 3.90 0 28341.11 04:59:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183053.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183054.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.34 14.06 3.86 3.89 0 19886.38 04:59:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183055.00,,,,,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,183056.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.06 4.87 15.42 3.88 3.89 0 3757.01 04:59:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183057.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183058.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183059.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183100.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183101.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183102.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 4.23 13.37 3.86 3.90 0 28340.71 04:59:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183103.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183104.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.60 14.06 3.86 3.89 0 19886.07 04:59:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183105.00,,,,,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,183106.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.02 4.94 15.42 3.88 3.89 0 3756.49 04:59:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183107.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183108.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183109.00,,,,,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,183110.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183111.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,183112.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 4.12 13.37 3.86 3.90 0 28340.42 04:59:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183113.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183114.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.34 14.06 3.86 3.89 0 19885.59 04:59:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183115.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183116.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.552133 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.552133 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c1q0 d- 31.02 4.46 15.42 3.88 3.89 0 3756.15 04:59:47 m : DepthEnvelope -- Measured altitude 13.552133 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.552133 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183117.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.552133 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.552133 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.552133 under allowable altitude 15.000000. Stopping! : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183118.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183119.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.590273 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.675192 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183120.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183121.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183122.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 31.10 0.85 13.37 3.86 3.90 0 28340.10 04:59:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183123.00,,,,,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,183124.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.20 2.83 14.16 3.86 3.89 0 19885.40 04:59:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183125.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183126.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.32 15.52 3.88 3.89 0 3755.82 04:59:57 m : AshtechGps::processRecord() - $GPGGA,183127.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183128.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183129.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183130.00,,,,,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,183131.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183132.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 4.12 13.47 3.87 3.90 0 28339.88 05:00:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183133.00,,,,,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,183134.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.16 4.38 14.06 3.86 3.90 0 19885.01 05:00:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183135.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183136.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.74 15.52 3.88 3.89 0 3755.49 05:00:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183137.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : AshtechGps::processRecord() - $GPGGA,183138.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183139.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183140.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183141.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183142.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.82 13.28 3.87 3.90 0 28339.48 05:00:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183143.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183144.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.12 3.98 14.06 3.86 3.90 0 19884.73 05:00:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183145.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183146.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.32 15.42 3.88 3.89 0 3755.00 05:00:17 m : AshtechGps::processRecord() - $GPGGA,183147.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : AshtechGps::processRecord() - $GPGGA,183148.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183149.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183150.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183151.00,,,,,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,183152.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.99 3.71 13.28 3.87 3.90 0 28339.22 05:00:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183153.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183154.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 3.80 14.06 3.87 3.90 0 19884.31 05:00:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183155.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183156.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.81 15.42 3.88 3.89 0 3754.69 05:00:27 m : AshtechGps::processRecord() - $GPGGA,183157.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183158.00,,,,,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,183159.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183200.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183201.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183202.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.63 13.28 3.87 3.90 0 28338.84 05:00:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183203.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183204.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.06 14.06 3.87 3.90 0 19884.03 05:00:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183205.00,,,,,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,183206.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.50 15.42 3.88 3.89 0 3754.22 05:00:37 m : AshtechGps::processRecord() - $GPGGA,183207.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,183208.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183209.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183210.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183211.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183212.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 4.12 13.18 3.87 3.90 0 28338.59 05:00:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183213.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183214.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.06 14.06 3.86 3.90 0 19883.61 05:00:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183215.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183216.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.06 4.39 15.42 3.88 3.89 0 3753.92 05:00:47 m : AshtechGps::processRecord() - $GPGGA,183217.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : AshtechGps::processRecord() - $GPGGA,183218.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183219.00,,,,,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,183220.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183221.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183222.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.63 13.18 3.87 3.90 0 28338.22 05:00:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183223.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183224.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.06 13.96 3.86 3.90 0 19883.35 05:00:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183225.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183226.00,,,,,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: $c1q0 d- 31.06 4.67 15.42 3.88 3.89 0 3753.47 05:00:57 m : AshtechGps::processRecord() - $GPGGA,183227.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.870000 : AshtechGps::processRecord() - $GPGGA,183228.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183229.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183230.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183231.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183232.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 5.16 13.18 3.86 3.90 0 28337.92 05:01:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183233.00,,,,,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,183234.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.63 13.96 3.86 3.89 0 19882.91 05:01:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183235.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183236.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.02 5.08 15.33 3.88 3.89 0 3753.13 05:01:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183237.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183238.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183239.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183240.00,,,,,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,183241.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183242.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 4.04 13.28 3.86 3.90 0 28337.48 05:01:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183243.00,,,,,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,183244.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.52 13.96 3.86 3.89 0 19882.61 05:01:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183245.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183246.00,,,,,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: $c1q0 d- 31.02 4.91 15.42 3.88 3.89 0 3752.61 05:01:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183247.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183248.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183249.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183250.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183251.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183252.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.04 13.28 3.86 3.90 0 28337.20 05:01:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183253.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183254.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.49 14.06 3.86 3.89 0 19882.09 05:01:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183255.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183256.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.77 15.42 3.88 3.89 0 3752.26 05:01:27 m : AshtechGps::processRecord() - $GPGGA,183257.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183258.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183259.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183300.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183301.00,,,,,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,183302.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 4.08 13.18 3.86 3.90 0 28336.73 05:01:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183303.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183304.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.42 14.06 3.86 3.89 0 19881.78 05:01:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183305.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183306.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.77 15.33 3.88 3.89 0 3751.76 05:01:37 m : AshtechGps::processRecord() - $GPGGA,183307.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183308.00,,,,,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,183309.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183310.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183311.00,,,,,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,183312.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.97 13.28 3.86 3.90 0 28336.46 05:01:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183313.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183314.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.56 14.06 3.86 3.89 0 19881.33 05:01:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183315.00,,,,,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,183316.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.77 15.42 3.88 3.89 0 3751.42 05:01:47 m : AshtechGps::processRecord() - $GPGGA,183317.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183318.00,,,,,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,183319.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183320.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183321.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183322.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.85 13.28 3.86 3.90 0 28336.05 05:01:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,183323.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183324.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.16 14.06 3.86 3.89 0 19881.03 05:01:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183325.00,,,,,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,183326.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.91 15.42 3.88 3.89 0 3750.93 05:01:57 m : AshtechGps::processRecord() - $GPGGA,183327.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183328.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183329.00,,,,,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,183330.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183331.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183332.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.97 13.28 3.86 3.90 0 28335.77 05:02:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183333.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183334.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.45 14.06 3.86 3.89 0 19880.58 05:02:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183335.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183336.00,,,,,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: $c1q0 d- 31.02 4.87 15.42 3.88 3.89 0 3750.58 05:02:07 m : AshtechGps::processRecord() - $GPGGA,183337.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183338.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183339.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183340.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183341.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183342.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.19 13.37 3.86 3.90 0 28335.32 05:02:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183343.00,,,,,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,183344.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.24 14.06 3.86 3.89 0 19880.28 05:02:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183345.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183346.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.74 15.42 3.88 3.89 0 3750.07 05:02:17 m : AshtechGps::processRecord() - $GPGGA,183347.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183348.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.106082 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.106082 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.106082 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183349.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.106082 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.106082 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.106082 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.106082 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.081276 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183350.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.081276 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.081276 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.081276 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.081276 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.081276 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183351.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.081276 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183352.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 31.07 1.44 13.37 3.86 3.90 0 28335.04 05:02:23 m : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.713648 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 16.734425 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,183353.00,,,,,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,183354.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.28 1.11 14.06 3.86 3.89 0 19879.95 05:02:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183355.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183356.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.14 2.54 15.42 3.88 3.89 0 3749.84 05:02:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183357.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183358.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183359.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183400.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183401.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183402.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.19 13.37 3.86 3.90 0 28334.79 05:02:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183403.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183404.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.45 14.06 3.86 3.89 0 19879.71 05:02:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183405.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183406.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 4.91 15.42 3.88 3.89 0 3749.39 05:02:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183407.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183408.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183409.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183410.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183411.00,,,,,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,183412.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.82 13.37 3.86 3.90 0 28334.52 05:02:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183413.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183414.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.09 14.06 3.86 3.89 0 19879.24 05:02:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183415.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183416.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.36 15.33 3.88 3.89 0 3749.07 05:02:47 m : AshtechGps::processRecord() - $GPGGA,183417.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183418.00,,,,,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,183419.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183420.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183421.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183422.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 3.78 13.37 3.86 3.90 0 28334.13 05:02:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183423.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183424.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 4.02 14.06 3.86 3.89 0 19878.96 05:02:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183425.00,,,,,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,183426.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.06 4.36 15.52 3.88 3.89 0 3748.61 05:02:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183427.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183428.00,,,,,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,183429.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183430.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183431.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183432.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.82 13.28 3.86 3.90 0 28333.89 05:03:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183433.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183434.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 3.80 14.06 3.86 3.89 0 19878.55 05:03:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183435.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183436.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.02 4.36 15.42 3.88 3.89 0 3748.32 05:03:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183437.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183438.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183439.00,,,,,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,183440.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183441.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183442.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 3.59 13.37 3.86 3.90 0 28333.52 05:03:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183443.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183444.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.02 14.06 3.86 3.89 0 19878.27 05:03:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183445.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183446.00,,,,,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: $c1q0 d- 31.02 4.29 15.42 3.88 3.89 0 3747.87 05:03:17 m : AshtechGps::processRecord() - $GPGGA,183447.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183448.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183449.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183450.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183451.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183452.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.82 13.18 3.86 3.90 0 28333.25 05:03:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183453.00,,,,,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,183454.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.20 13.96 3.86 3.89 0 19877.85 05:03:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183455.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183456.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.02 4.50 15.33 3.88 3.89 0 3747.57 05:03:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,183457.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183458.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183459.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183500.00,,,,,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,183501.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183502.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.89 13.28 3.86 3.90 0 28332.87 05:03:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183503.00,,,,,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,183504.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.34 13.96 3.86 3.89 0 19877.57 05:03:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183505.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183506.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.02 5.42 15.33 3.88 3.89 0 3747.04 05:03:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183507.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183508.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183509.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183510.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183511.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183512.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.08 13.08 3.86 3.90 0 28332.59 05:03:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183513.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183514.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.67 13.96 3.85 3.89 0 19877.10 05:03:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183515.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183516.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 5.22 15.42 3.88 3.89 0 3746.70 05:03:47 m : AshtechGps::processRecord() - $GPGGA,183517.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,183518.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183519.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183520.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183521.00,,,,,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,183522.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 4.19 13.18 3.86 3.90 0 28332.16 05:03:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183523.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183524.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.52 13.96 3.85 3.89 0 19876.78 05:03:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183525.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183526.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 5.22 15.33 3.88 3.89 0 3746.18 05:03:57 m : AshtechGps::processRecord() - $GPGGA,183527.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.863333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183528.00,,,,,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,183529.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183530.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183531.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183532.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 4.23 13.18 3.86 3.90 0 28331.87 05:04:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183533.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,183534.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.67 14.06 3.85 3.89 0 19876.30 05:04:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183535.00,,,,,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,183536.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.01 15.42 3.87 3.89 0 3745.83 05:04:07 m : AshtechGps::processRecord() - $GPGGA,183537.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183538.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183539.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183540.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183541.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183542.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 4.00 13.18 3.86 3.90 0 28331.43 05:04:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183543.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183544.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.49 14.06 3.85 3.89 0 19875.98 05:04:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183545.00,,,,,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,183546.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.01 15.33 3.87 3.89 0 3745.33 05:04:17 m : AshtechGps::processRecord() - $GPGGA,183547.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183548.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183549.00,,,,,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,183550.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183551.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183552.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.85 13.28 3.86 3.90 0 28331.13 05:04:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183553.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183554.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.38 14.06 3.85 3.89 0 19875.51 05:04:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183555.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183556.00,,,,,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: $c1q0 d- 30.99 5.18 15.33 3.87 3.89 0 3745.01 05:04:27 m : AshtechGps::processRecord() - $GPGGA,183557.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183558.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183559.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183600.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183601.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183602.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.12 13.28 3.86 3.90 0 28330.71 05:04:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183603.00,,,,,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,183604.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.34 14.06 3.85 3.89 0 19875.20 05:04:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183605.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183606.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.25 15.33 3.87 3.89 0 3744.48 05:04:37 m : AshtechGps::processRecord() - $GPGGA,183607.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183608.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183609.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183610.00,,,,,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,183611.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183612.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.97 13.28 3.86 3.90 0 28330.44 05:04:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183613.00,,,,,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,183614.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.42 14.06 3.86 3.89 0 19874.75 05:04:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183615.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183616.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.02 4.74 15.33 3.88 3.89 0 3744.14 05:04:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183617.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183618.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183619.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183620.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,183621.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183622.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.12 13.28 3.86 3.90 0 28329.98 05:04:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183623.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183624.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.27 14.06 3.86 3.89 0 19874.39 05:04:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183625.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183626.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.64 15.33 3.88 3.89 0 3743.66 05:04:57 m : AshtechGps::processRecord() - $GPGGA,183627.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183628.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183629.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.539439 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.188731 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.188731 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.188731 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183630.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.188731 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.188731 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.188731 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.188731 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 15.444701 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183631.00,,,,,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,183632.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 31.10 0.77 13.37 3.86 3.90 0 28329.70 05:05:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183633.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183634.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.16 2.12 14.06 3.86 3.89 0 19874.03 05:05:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183635.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183636.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 3.64 15.42 3.88 3.89 0 3743.44 05:05:07 m : AshtechGps::processRecord() - $GPGGA,183637.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183638.00,,,,,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,183639.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183640.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183641.00,,,,,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,183642.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 4.04 13.37 3.86 3.90 0 28329.42 05:05:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183643.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183644.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.60 14.06 3.86 3.89 0 19873.77 05:05:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183645.00,,,,,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,183646.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.99 4.77 15.42 3.88 3.89 0 3742.96 05:05:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183647.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183648.00,,,,,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,183649.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183650.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183651.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183652.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.71 13.28 3.86 3.90 0 28329.16 05:05:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183653.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183654.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 3.98 14.06 3.86 3.89 0 19873.33 05:05:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183655.00,,,,,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,183656.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 31.02 4.53 15.42 3.87 3.89 0 3742.64 05:05:27 m : AshtechGps::processRecord() - $GPGGA,183657.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,183658.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183659.00,,,,,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,183700.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183701.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183702.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.63 13.37 3.86 3.90 0 28328.77 05:05:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183703.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183704.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 3.98 14.06 3.86 3.89 0 19873.04 05:05:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183705.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183706.00,,,,,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: $c1q0 d- 30.99 4.29 15.42 3.87 3.89 0 3742.18 05:05:37 m : AshtechGps::processRecord() - $GPGGA,183707.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,183708.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183709.00,,,,,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,183710.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183711.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183712.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 30.91 3.71 13.28 3.86 3.90 0 28328.53 05:05:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183713.00,,,,,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,183714.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.02 13.96 3.86 3.89 0 19872.60 05:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183715.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183716.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 4.53 15.33 3.88 3.89 0 3741.86 05:05:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183717.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183718.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183719.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183720.00,,,,,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,183721.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183722.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.56 13.28 3.86 3.90 0 28328.13 05:05:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183723.00,,,,,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,183724.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 5.06 13.96 3.86 3.89 0 19872.31 05:05:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183725.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183726.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 4.70 15.33 3.88 3.89 0 3741.35 05:05:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183727.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183728.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183729.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183730.00,,,,,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,183731.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183732.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.44 13.18 3.86 3.90 0 28327.89 05:06:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183733.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183734.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 3.77 13.96 3.85 3.89 0 19871.88 05:06:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183735.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183736.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 6.15 15.33 3.88 3.89 0 3741.03 05:06:07 m : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,183737.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,183738.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183739.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183740.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver: error reading voltages : Seabird/ctdDriver2: error reading voltages : Seabird/ctdDriver2: error reading voltages : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183741.00,,,,,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,183742.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 3.75 13.08 3.86 3.90 0 28327.48 05:06:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183743.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183744.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.52 13.86 3.85 3.89 0 19871.60 05:06:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,183745.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183746.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.29 15.33 3.88 3.89 0 3740.53 05:06:17 m : AshtechGps::processRecord() - $GPGGA,183747.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.863333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183748.00,,,,,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,183749.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183750.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183751.00,,,,,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,183752.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 4.12 13.18 3.86 3.89 0 28327.19 05:06:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183753.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183754.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.63 13.86 3.85 3.89 0 19871.10 05:06:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183755.00,,,,,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,183756.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.12 15.23 3.87 3.89 0 3740.19 05:06:27 m : AshtechGps::processRecord() - $GPGGA,183757.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183758.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183759.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183800.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183801.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183802.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.26 13.08 3.86 3.89 0 28326.69 05:06:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183803.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183804.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.74 13.96 3.85 3.89 0 19870.76 05:06:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183805.00,,,,,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,183806.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.50 15.23 3.87 3.89 0 3739.63 05:06:37 m : AshtechGps::processRecord() - $GPGGA,183807.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183808.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183809.00,,,,,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,183810.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183811.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183812.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.97 13.18 3.86 3.90 0 28326.41 05:06:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183813.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183814.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.42 13.96 3.86 3.89 0 19870.30 05:06:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183815.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183816.00,,,,,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: $c1q0 d- 30.95 4.91 15.33 3.87 3.89 0 3739.31 05:06:47 m : AshtechGps::processRecord() - $GPGGA,183817.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,183818.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183819.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183820.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183821.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183822.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 4.04 13.18 3.86 3.90 0 28325.99 05:06:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183823.00,,,,,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,183824.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.38 13.96 3.86 3.89 0 19869.99 05:06:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183825.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183826.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.91 15.33 3.87 3.89 0 3738.81 05:06:57 m : AshtechGps::processRecord() - $GPGGA,183827.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,183828.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183829.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183830.00,,,,,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,183831.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183832.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.12 13.28 3.86 3.90 0 28325.71 05:07:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183833.00,,,,,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,183834.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 5.64 14.06 3.85 3.89 0 19869.54 05:07:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183835.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183836.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.84 15.33 3.87 3.89 0 3738.47 05:07:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183837.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183838.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183839.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183840.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183841.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183842.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.08 13.18 3.86 3.90 0 28325.30 05:07:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183843.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183844.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.38 13.96 3.85 3.89 0 19869.24 05:07:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183845.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183846.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.29 15.33 3.87 3.89 0 3737.98 05:07:17 m : AshtechGps::processRecord() - $GPGGA,183847.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,183848.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183849.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183850.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183851.00,,,,,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,183852.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 4.00 13.18 3.86 3.90 0 28325.01 05:07:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183853.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183854.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.20 13.96 3.86 3.89 0 19868.75 05:07:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183855.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183856.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 5.15 15.33 3.87 3.89 0 3737.66 05:07:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183857.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183858.00,,,,,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,183859.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183900.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183901.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183902.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 3.89 13.18 3.86 3.90 0 28324.61 05:07:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183903.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183904.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.24 13.96 3.86 3.89 0 19868.46 05:07:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183905.00,,,,,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,183906.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 4.91 15.33 3.87 3.89 0 3737.19 05:07:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183907.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183908.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183909.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183910.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 13.409241 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.409241 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183911.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.409241 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.409241 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.409241 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.409241 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.409241 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,183912.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.669155 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.669155 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.95 3.78 13.18 3.86 3.90 0 28324.34 05:07:43 m : DepthEnvelope -- Measured altitude 12.669155 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.669155 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.669155 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183913.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.669155 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.669155 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183914.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.24 1.39 14.06 3.86 3.89 0 19868.02 05:07:45 m : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.245251 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,183915.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.284655 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183916.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 1.54 15.33 3.87 3.89 0 3736.88 05:07:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183917.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183918.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183919.00,,,,,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,183920.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183921.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183922.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.71 13.28 3.86 3.90 0 28324.09 05:07:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183923.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183924.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.52 14.06 3.86 3.89 0 19867.85 05:07:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183925.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183926.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 5.08 15.42 3.87 3.89 0 3736.52 05:07:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183927.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183928.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183929.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183930.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183931.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183932.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.85 13.28 3.86 3.90 0 28323.81 05:08:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183933.00,,,,,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,183934.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.52 13.96 3.86 3.89 0 19867.38 05:08:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183935.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183936.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.81 15.42 3.87 3.89 0 3736.19 05:08:07 m : AshtechGps::processRecord() - $GPGGA,183937.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,183938.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183939.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183940.00,,,,,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,183941.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183942.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.67 13.18 3.86 3.90 0 28323.42 05:08:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183943.00,,,,,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,183944.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 3.98 13.96 3.86 3.89 0 19867.08 05:08:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183945.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183946.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 4.64 15.42 3.87 3.89 0 3735.70 05:08:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183947.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183948.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183949.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183950.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183951.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183952.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.56 13.18 3.86 3.90 0 28323.18 05:08:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183953.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,183954.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 3.95 13.96 3.86 3.89 0 19866.67 05:08:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183955.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,183956.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.02 4.46 15.33 3.88 3.89 0 3735.39 05:08:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183957.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,183958.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,183959.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184000.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184001.00,,,,,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,184002.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.48 13.18 3.86 3.90 0 28322.80 05:08:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184003.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184004.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.02 13.86 3.86 3.89 0 19866.34 05:08:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184005.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184006.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.99 4.46 15.33 3.88 3.89 0 3734.94 05:08:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184007.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184008.00,,,,,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,184009.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184010.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184011.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184012.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.78 13.18 3.86 3.90 0 28322.54 05:08:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184013.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184014.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.24 13.86 3.86 3.89 0 19865.92 05:08:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184015.00,,,,,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,184016.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 4.57 15.33 3.88 3.89 0 3734.64 05:08:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184017.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184018.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184019.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184020.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184021.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184022.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.97 13.18 3.86 3.90 0 28322.16 05:08:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184023.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184024.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 3.88 13.86 3.86 3.89 0 19865.60 05:08:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184025.00,,,,,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,184026.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.50 15.33 3.88 3.89 0 3734.18 05:08:57 m : AshtechGps::processRecord() - $GPGGA,184027.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : AshtechGps::processRecord() - $GPGGA,184028.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184029.00,,,,,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,184030.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184031.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184032.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.78 13.08 3.86 3.90 0 28321.92 05:09:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184033.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184034.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.56 13.86 3.86 3.89 0 19865.12 05:09:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184035.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184036.00,,,,,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: $c1q0 d- 30.95 5.05 15.23 3.87 3.89 0 3733.84 05:09:07 m : AshtechGps::processRecord() - $GPGGA,184037.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,184038.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184039.00,,,,,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,184040.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184041.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184042.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.60 13.18 3.86 3.90 0 28321.50 05:09:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184043.00,,,,,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,184044.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 4.42 13.86 3.86 3.89 0 19864.80 05:09:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184045.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184046.00,,,,,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: $c1q0 d- 30.95 4.84 15.23 3.87 3.89 0 3733.33 05:09:17 m : AshtechGps::processRecord() - $GPGGA,184047.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,184048.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184049.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184050.00,,,,,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,184051.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184052.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 4.23 13.18 3.85 3.89 0 28321.22 05:09:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184053.00,,,,,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,184054.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.42 13.86 3.85 3.89 0 19864.34 05:09:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184055.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184056.00,,,,,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: $c1q0 d- 30.99 4.91 15.13 3.87 3.89 0 3732.98 05:09:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184057.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184058.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184059.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184100.00,,,,,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,184101.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184102.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.15 13.08 3.85 3.89 0 28320.79 05:09:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184103.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184104.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.60 13.96 3.85 3.89 0 19864.02 05:09:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184105.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184106.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.98 15.23 3.87 3.89 0 3732.46 05:09:37 m : AshtechGps::processRecord() - $GPGGA,184107.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184108.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184109.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184110.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184111.00,,,,,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,184112.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 4.30 13.18 3.85 3.89 0 28320.49 05:09:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184113.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184114.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 6.10 13.96 3.85 3.89 0 19863.55 05:09:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184115.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184116.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.05 15.33 3.87 3.89 0 3732.12 05:09:47 m : AshtechGps::processRecord() - $GPGGA,184117.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184118.00,,,,,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,184119.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184120.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184121.00,,,,,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,184122.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.87 4.26 13.18 3.85 3.89 0 28320.06 05:09:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184123.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184124.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.74 13.96 3.85 3.89 0 19863.23 05:09:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184125.00,,,,,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,184126.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.77 15.23 3.87 3.89 0 3731.58 05:09:57 m : AshtechGps::processRecord() - $GPGGA,184127.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184128.00,,,,,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,184129.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184130.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184131.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184132.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.04 13.18 3.86 3.89 0 28319.78 05:10:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184133.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184134.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.08 4.60 13.96 3.85 3.89 0 19862.75 05:10:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184135.00,,,,,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,184136.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.91 15.33 3.87 3.88 0 3731.24 05:10:07 m : AshtechGps::processRecord() - $GPGGA,184137.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184138.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184139.00,,,,,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,184140.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184141.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184142.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.93 13.18 3.86 3.89 0 28319.35 05:10:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184143.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184144.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.63 13.96 3.85 3.89 0 19862.43 05:10:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184145.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184146.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.87 15.33 3.87 3.88 0 3730.73 05:10:17 m : AshtechGps::processRecord() - $GPGGA,184147.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184148.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184149.00,,,,,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,184150.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184151.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184152.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.82 13.18 3.86 3.89 0 28319.08 05:10:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184153.00,,,,,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,184154.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.20 13.96 3.85 3.89 0 19861.98 05:10:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184155.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184156.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 4.81 15.33 3.87 3.89 0 3730.39 05:10:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184157.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184158.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184159.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.206754 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.206754 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184200.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.206754 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.206754 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.206754 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.206754 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.206754 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,184201.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 22.357336 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184202.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 2.92 13.28 3.86 3.89 0 28318.67 05:10:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184203.00,,,,,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,184204.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.24 1.39 13.96 3.85 3.89 0 19861.68 05:10:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184205.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184206.00,,,,,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: $c1q0 d- 31.06 3.05 15.42 3.87 3.89 0 3729.98 05:10:37 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184207.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184208.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184209.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184210.00,,,,,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,184211.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184212.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.75 13.28 3.86 3.90 0 28318.50 05:10:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184213.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184214.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.13 13.96 3.86 3.89 0 19861.35 05:10:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184215.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184216.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.95 4.57 15.33 3.88 3.89 0 3729.64 05:10:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184217.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184218.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184219.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184220.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184221.00,,,,,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,184222.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 5.19 13.18 3.86 3.90 0 28318.09 05:10:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184223.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184224.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 4.20 13.86 3.86 3.89 0 19861.05 05:10:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184225.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184226.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.29 15.33 3.88 3.89 0 3729.13 05:10:57 m : AshtechGps::processRecord() - $GPGGA,184227.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.866667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184228.00,,,,,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,184229.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184230.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184231.00,,,,,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,184232.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 3.44 13.18 3.86 3.90 0 28317.80 05:11:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184233.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184234.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 3.91 13.86 3.86 3.89 0 19860.63 05:11:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184235.00,,,,,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,184236.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.08 15.33 3.87 3.89 0 3728.84 05:11:07 m : AshtechGps::processRecord() - $GPGGA,184237.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,184238.00,,,,,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,184239.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184240.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184241.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184242.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 3.82 13.18 3.86 3.90 0 28317.42 05:11:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184243.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184244.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.31 13.86 3.86 3.89 0 19860.34 05:11:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184245.00,,,,,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,184246.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.99 4.43 15.23 3.87 3.89 0 3728.36 05:11:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184247.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184248.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184249.00,,,,,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,184250.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184251.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184252.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.56 13.18 3.86 3.90 0 28317.15 05:11:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184253.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184254.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 3.98 13.86 3.85 3.89 0 19859.94 05:11:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184255.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184256.00,,,,,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: $c1q0 d- 31.02 4.29 15.23 3.87 3.89 0 3728.06 05:11:27 m : AshtechGps::processRecord() - $GPGGA,184257.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184258.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184259.00,,,,,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,184300.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184301.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184302.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.67 13.18 3.86 3.90 0 28316.70 05:11:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184303.00,,,,,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,184304.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 3.95 13.86 3.85 3.89 0 19859.66 05:11:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184305.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184306.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.95 4.84 15.23 3.87 3.89 0 3727.61 05:11:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184307.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184308.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184309.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184310.00,,,,,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,184311.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184312.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 30.83 4.26 13.08 3.85 3.89 0 28316.44 05:11:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184313.00,,,,,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,184314.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.49 13.86 3.85 3.89 0 19859.16 05:11:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184315.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184316.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.95 5.01 15.23 3.87 3.89 0 3727.28 05:11:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184317.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184318.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184319.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184320.00,,,,,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,184321.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184322.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.93 13.18 3.85 3.89 0 28315.96 05:11:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184323.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184324.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.60 13.86 3.85 3.89 0 19858.82 05:11:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184325.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184326.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 6.39 15.13 3.87 3.89 0 3726.72 05:11:57 m : AshtechGps::processRecord() - $GPGGA,184327.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184328.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184329.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184330.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184331.00,,,,,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,184332.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.87 4.41 13.08 3.85 3.89 0 28315.64 05:12:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184333.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184334.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.67 13.86 3.85 3.88 0 19858.34 05:12:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184335.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184336.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 5.29 15.23 3.87 3.89 0 3726.38 05:12:07 m : AshtechGps::processRecord() - $GPGGA,184337.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184338.00,,,,,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,184339.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184340.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184341.00,,,,,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,184342.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.87 4.26 13.18 3.85 3.89 0 28315.22 05:12:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184343.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184344.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.42 13.86 3.85 3.88 0 19858.02 05:12:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184345.00,,,,,0,00,,,M,,M,,*47 : 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,184346.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.91 5.29 15.13 3.87 3.89 0 3725.86 05:12:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184347.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184348.00,,,,,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,184349.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184350.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184351.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184352.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.19 13.18 3.85 3.89 0 28314.92 05:12:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184353.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184354.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.67 13.96 3.85 3.89 0 19857.56 05:12:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184355.00,,,,,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,184356.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.91 5.67 15.23 3.87 3.88 0 3725.51 05:12:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184357.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184358.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184359.00,,,,,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,184400.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184401.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184402.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.12 13.18 3.85 3.89 0 28314.48 05:12:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184403.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184404.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.52 13.96 3.85 3.89 0 19857.24 05:12:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184405.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184406.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.95 5.01 15.23 3.87 3.88 0 3724.98 05:12:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184407.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184408.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184409.00,,,,,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,184410.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184411.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184412.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.30 13.18 3.85 3.89 0 28314.18 05:12:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184413.00,,,,,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,184414.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.60 13.96 3.85 3.88 0 19856.75 05:12:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184415.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184416.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 4.98 15.23 3.87 3.88 0 3724.63 05:12:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184417.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,184418.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184419.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184420.00,,,,,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,184421.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184422.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.30 13.18 3.85 3.89 0 28313.74 05:12:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184423.00,,,,,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,184424.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.88 13.96 3.85 3.88 0 19856.42 05:12:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184425.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184426.00,,,,,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: $c1q0 d- 30.95 4.87 15.23 3.87 3.88 0 3724.11 05:12:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184427.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184428.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184429.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184430.00,,,,,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,184431.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184432.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.89 13.18 3.85 3.89 0 28313.45 05:13:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,184433.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184434.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.38 13.96 3.85 3.88 0 19855.96 05:13:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184435.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184436.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.95 4.94 15.33 3.87 3.88 0 3723.78 05:13:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184437.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184438.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184439.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184440.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.343704 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343704 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343704 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343704 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.343704 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,184441.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.343704 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.343704 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086093 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086093 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.086093 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,184442.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.086093 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086093 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.91 3.89 13.18 3.85 3.89 0 28313.05 05:13:13 m : DepthEnvelope -- Measured altitude 13.086093 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.086093 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,184443.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,184444.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.560679 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.448284 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $c0q0 d- 31.24 1.07 13.96 3.85 3.88 0 19855.66 05:13:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184445.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184446.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 31.10 1.54 15.33 3.87 3.88 0 3723.40 05:13:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184447.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184448.00,,,,,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,184449.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184450.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184451.00,,,,,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,184452.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 3.56 13.18 3.87 3.90 0 28312.94 05:13:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184453.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184454.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 5.10 13.96 3.87 3.90 0 19855.40 05:13:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184455.00,,,,,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,184456.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 5.01 15.33 3.88 3.89 0 3723.14 05:13:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184457.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,184458.00,,,,,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,184459.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.740130 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.740130 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.740130 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.740130 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,184500.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.740130 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.740130 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.740130 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 25.503963 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184501.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184502.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 2.89 13.28 3.87 3.90 0 28312.54 05:13:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184503.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184504.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 2.80 13.86 3.87 3.90 0 19855.09 05:13:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184505.00,,,,,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,184506.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 3.98 15.33 3.88 3.89 0 3722.69 05:13:37 m : AshtechGps::processRecord() - $GPGGA,184507.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,184508.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184509.00,,,,,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,184510.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184511.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184512.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 4.30 13.08 3.86 3.89 0 28312.32 05:13:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184513.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184514.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.27 13.86 3.86 3.89 0 19854.70 05:13:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184515.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184516.00,,,,,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: $c1q0 d- 30.95 4.60 15.23 3.87 3.89 0 3722.35 05:13:47 m : AshtechGps::processRecord() - $GPGGA,184517.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,184518.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184519.00,,,,,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,184520.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184521.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184522.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.82 13.18 3.86 3.89 0 28311.92 05:13:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184523.00,,,,,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,184524.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.06 13.86 3.86 3.89 0 19854.42 05:13:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184525.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184526.00,,,,,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: $c1q0 d- 30.95 4.46 15.23 3.87 3.89 0 3721.88 05:13:57 m : AshtechGps::processRecord() - $GPGGA,184527.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,184528.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184529.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184530.00,,,,,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,184531.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184532.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.00 13.08 3.85 3.89 0 28311.68 05:14:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184533.00,,,,,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,184534.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 3.91 13.86 3.85 3.89 0 19854.01 05:14:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184535.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184536.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.99 4.26 15.23 3.87 3.89 0 3721.58 05:14:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184537.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184538.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184539.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184540.00,,,,,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,184541.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184542.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.63 13.18 3.85 3.89 0 28311.30 05:14:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184543.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184544.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.27 13.86 3.85 3.89 0 19853.73 05:14:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184545.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184546.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.29 15.23 3.87 3.89 0 3721.11 05:14:17 m : AshtechGps::processRecord() - $GPGGA,184547.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184548.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184549.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184550.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184551.00,,,,,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,184552.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.75 13.08 3.86 3.89 0 28311.05 05:14:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184553.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184554.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.02 13.86 3.85 3.89 0 19853.26 05:14:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184555.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184556.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 5.70 15.23 3.87 3.89 0 3720.81 05:14:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184557.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184558.00,,,,,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,184559.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184600.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184601.00,,,,,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,184602.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.59 13.08 3.86 3.89 0 28310.67 05:14:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184603.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184604.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 3.95 13.76 3.85 3.89 0 19852.98 05:14:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184605.00,,,,,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,184606.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.98 15.23 3.87 3.89 0 3720.32 05:14:37 m : AshtechGps::processRecord() - $GPGGA,184607.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184608.00,,,,,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,184609.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184610.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184611.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184612.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.15 13.08 3.85 3.89 0 28310.40 05:14:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184613.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184614.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.52 13.76 3.85 3.88 0 19852.51 05:14:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184615.00,,,,,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,184616.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 5.25 15.13 3.87 3.88 0 3719.97 05:14:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184617.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184618.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184619.00,,,,,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,184620.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184621.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184622.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.19 13.08 3.85 3.89 0 28309.97 05:14:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184623.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184624.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.60 13.86 3.85 3.88 0 19852.19 05:14:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184625.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184626.00,,,,,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: $c1q0 d- 30.91 4.98 15.13 3.87 3.88 0 3719.45 05:14:57 m : AshtechGps::processRecord() - $GPGGA,184627.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184628.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,184629.00,,,,,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,184630.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184631.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184632.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.12 13.18 3.85 3.89 0 28309.62 05:15:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184633.00,,,,,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,184634.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.31 13.86 3.85 3.88 0 19851.71 05:15:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184635.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184636.00,,,,,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: $c1q0 d- 30.91 4.91 15.13 3.87 3.88 0 3719.09 05:15:07 m : AshtechGps::processRecord() - $GPGGA,184637.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184638.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184639.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184640.00,,,,,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,184641.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184642.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.19 13.18 3.85 3.89 0 28309.18 05:15:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184643.00,,,,,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,184644.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 6.07 13.86 3.85 3.88 0 19851.39 05:15:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184645.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184646.00,,,,,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: $c1q0 d- 30.95 5.15 15.13 3.87 3.88 0 3718.58 05:15:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184647.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184648.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184649.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184650.00,,,,,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,184651.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184652.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.23 13.18 3.85 3.89 0 28308.89 05:15:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184653.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184654.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.63 13.86 3.85 3.88 0 19850.90 05:15:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184655.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184656.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.95 5.12 15.23 3.87 3.88 0 3718.23 05:15:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184657.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184658.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184659.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184700.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184701.00,,,,,0,00,,,M,,M,,*43 : 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,184702.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.87 4.12 13.08 3.85 3.89 0 28308.45 05:15:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184703.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184704.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.56 13.96 3.85 3.88 0 19850.58 05:15:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184705.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184706.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 5.08 15.33 3.87 3.88 0 3717.71 05:15:37 m : AshtechGps::processRecord() - $GPGGA,184707.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184708.00,,,,,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,184709.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184710.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184711.00,,,,,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,184712.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.00 13.18 3.85 3.89 0 28308.16 05:15:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184713.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184714.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.67 13.96 3.85 3.88 0 19850.09 05:15:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184715.00,,,,,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,184716.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.91 5.05 15.13 3.87 3.88 0 3717.32 05:15:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184717.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184718.00,,,,,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,184719.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184720.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184721.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184722.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.97 13.18 3.85 3.89 0 28307.74 05:15:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184723.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184724.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.45 13.86 3.85 3.88 0 19849.76 05:15:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184725.00,,,,,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,184726.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 5.05 15.33 3.87 3.88 0 3716.81 05:15:57 m : AshtechGps::processRecord() - $GPGGA,184727.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184728.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184729.00,,,,,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,184730.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184731.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184732.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.93 13.18 3.85 3.89 0 28307.44 05:16:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184733.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184734.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.45 13.96 3.85 3.88 0 19849.28 05:16:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184735.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184736.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.87 5.22 15.23 3.87 3.88 0 3716.48 05:16:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184737.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184738.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184739.00,,,,,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,184740.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184741.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184742.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.19 13.18 3.85 3.89 0 28307.04 05:16:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184743.00,,,,,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,184744.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.09 13.86 3.85 3.88 0 19848.97 05:16:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184745.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184746.00,,,,,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: $c1q0 d- 30.95 4.53 15.33 3.87 3.88 0 3715.96 05:16:17 m : AshtechGps::processRecord() - $GPGGA,184747.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,184748.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.523917 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 15.685274 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,184749.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184750.00,,,,,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,184751.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184752.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.95 2.00 13.28 3.86 3.89 0 28306.79 05:16:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184753.00,,,,,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,184754.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 3.41 13.96 3.85 3.89 0 19848.59 05:16:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184755.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184756.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.95 4.60 15.33 3.87 3.89 0 3715.68 05:16:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184757.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184758.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184759.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184800.00,,,,,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,184801.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184802.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.82 13.18 3.86 3.89 0 28306.41 05:16:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184803.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184804.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.45 13.86 3.85 3.89 0 19848.24 05:16:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184805.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184806.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.74 15.23 3.87 3.89 0 3715.21 05:16:37 m : AshtechGps::processRecord() - $GPGGA,184807.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184808.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184809.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184810.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184811.00,,,,,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,184812.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.95 3.48 13.18 3.86 3.89 0 28306.16 05:16:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184813.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184814.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 5.28 13.86 3.85 3.89 0 19847.78 05:16:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184815.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184816.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.57 15.33 3.87 3.88 0 3714.91 05:16:47 m : AshtechGps::processRecord() - $GPGGA,184817.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184818.00,,,,,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,184819.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184820.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184821.00,,,,,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,184822.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.91 3.44 13.08 3.86 3.89 0 28305.79 05:16:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184823.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184824.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 3.95 13.86 3.85 3.89 0 19847.49 05:16:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184825.00,,,,,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,184826.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.08 15.13 3.87 3.88 0 3714.47 05:16:57 m : AshtechGps::processRecord() - $GPGGA,184827.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184828.00,,,,,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,184829.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184830.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184831.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184832.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.59 13.18 3.86 3.89 0 28305.54 05:17:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184833.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184834.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.02 13.86 3.85 3.89 0 19847.07 05:17:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184835.00,,,,,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,184836.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.67 15.23 3.87 3.88 0 3714.18 05:17:07 m : AshtechGps::processRecord() - $GPGGA,184837.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184838.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184839.00,,,,,0,00,,,M,,M,,*47 : 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,184840.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184841.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184842.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.52 13.08 3.86 3.89 0 28305.15 05:17:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184843.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184844.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 4.16 13.86 3.85 3.89 0 19846.80 05:17:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184845.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184846.00,,,,,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: $c1q0 d- 30.95 4.67 15.23 3.87 3.88 0 3713.73 05:17:17 m : AshtechGps::processRecord() - $GPGGA,184847.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,184848.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184849.00,,,,,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,184850.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184851.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184852.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.71 13.08 3.85 3.89 0 28304.90 05:17:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184853.00,,,,,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,184854.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 3.98 13.76 3.85 3.89 0 19846.39 05:17:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184855.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184856.00,,,,,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: $c1q0 d- 30.95 4.53 15.13 3.87 3.88 0 3713.39 05:17:27 m : AshtechGps::processRecord() - $GPGGA,184857.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184858.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184859.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184900.00,,,,,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,184901.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184902.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.67 13.08 3.85 3.89 0 28304.53 05:17:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184903.00,,,,,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,184904.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.67 13.76 3.85 3.89 0 19846.10 05:17:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184905.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184906.00,,,,,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: $c1q0 d- 30.99 4.50 15.13 3.87 3.88 0 3712.88 05:17:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184907.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184908.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184909.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184910.00,,,,,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,184911.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184912.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.59 13.08 3.85 3.89 0 28304.28 05:17:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184913.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184914.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.27 13.76 3.85 3.88 0 19845.67 05:17:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184915.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184916.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.91 15.13 3.87 3.88 0 3712.57 05:17:47 m : AshtechGps::processRecord() - $GPGGA,184917.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184918.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184919.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184920.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184921.00,,,,,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,184922.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.87 4.34 12.98 3.85 3.89 0 28303.86 05:17:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184923.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184924.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.70 13.76 3.85 3.88 0 19845.35 05:17:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184925.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184926.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 5.05 15.13 3.87 3.88 0 3712.05 05:17:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184927.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184928.00,,,,,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,184929.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184930.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184931.00,,,,,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,184932.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.49 13.08 3.85 3.89 0 28303.57 05:18:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184933.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184934.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.45 13.86 3.85 3.88 0 19844.87 05:18:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184935.00,,,,,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,184936.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 5.01 15.23 3.87 3.88 0 3711.71 05:18:07 m : AshtechGps::processRecord() - $GPGGA,184937.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184938.00,,,,,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,184939.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184940.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184941.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184942.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.08 13.08 3.85 3.89 0 28303.13 05:18:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184943.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184944.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.52 13.86 3.85 3.88 0 19844.56 05:18:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184945.00,,,,,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,184946.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 4.87 15.23 3.87 3.88 0 3711.16 05:18:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184947.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184948.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184949.00,,,,,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,184950.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184951.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184952.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.00 13.08 3.85 3.89 0 28302.85 05:18:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184953.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184954.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.74 13.86 3.85 3.88 0 19844.07 05:18:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184955.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,184956.00,,,,,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: $c1q0 d- 30.95 5.12 15.23 3.87 3.88 0 3710.82 05:18:27 m : AshtechGps::processRecord() - $GPGGA,184957.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,184958.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,184959.00,,,,,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,185000.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185001.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185002.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.15 13.08 3.85 3.89 0 28302.42 05:18:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185003.00,,,,,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,185004.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 6.25 13.86 3.85 3.88 0 19843.75 05:18:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185005.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185006.00,,,,,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: $c1q0 d- 30.91 4.91 15.23 3.87 3.88 0 3710.29 05:18:37 m : AshtechGps::processRecord() - $GPGGA,185007.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185008.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185009.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185010.00,,,,,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,185011.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185012.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.93 13.18 3.85 3.89 0 28302.15 05:18:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185013.00,,,,,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,185014.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.27 13.86 3.85 3.88 0 19843.28 05:18:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185015.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185016.00,,,,,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: $c1q0 d- 30.87 4.98 15.23 3.87 3.88 0 3709.96 05:18:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185017.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185018.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185019.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185020.00,,,,,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,185021.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185022.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.15 13.18 3.85 3.89 0 28301.75 05:18:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185023.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185024.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.34 13.96 3.85 3.88 0 19842.96 05:18:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185025.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185026.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 5.22 15.23 3.87 3.88 0 3709.48 05:18:57 m : AshtechGps::processRecord() - $GPGGA,185027.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185028.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185029.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185030.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185031.00,,,,,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,185032.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.30 13.18 3.85 3.89 0 28301.47 05:19:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185033.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185034.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.63 13.86 3.85 3.88 0 19842.51 05:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185035.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185036.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.91 15.13 3.87 3.88 0 3709.15 05:19:07 m : AshtechGps::processRecord() - $GPGGA,185037.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185038.00,,,,,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,185039.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185040.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185041.00,,,,,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,185042.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.04 13.18 3.85 3.89 0 28301.06 05:19:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185043.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185044.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.52 13.86 3.85 3.88 0 19842.20 05:19:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185045.00,,,,,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,185046.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.91 15.13 3.87 3.88 0 3708.66 05:19:17 m : AshtechGps::processRecord() - $GPGGA,185047.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185048.00,,,,,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,185049.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185050.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,185051.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185052.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.12 13.18 3.85 3.89 0 28300.77 05:19:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185053.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185054.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.34 13.86 3.85 3.88 0 19841.71 05:19:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185055.00,,,,,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,185056.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.01 15.23 3.87 3.88 0 3708.27 05:19:27 m : AshtechGps::processRecord() - $GPGGA,185057.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185058.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185059.00,,,,,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,185100.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185101.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185102.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.67 13.18 3.85 3.89 0 28300.37 05:19:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185103.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185104.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.09 13.96 3.85 3.88 0 19841.43 05:19:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185105.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185106.00,,,,,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: $c1q0 d- 30.95 4.57 15.33 3.87 3.88 0 3707.80 05:19:37 m : AshtechGps::processRecord() - $GPGGA,185107.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185108.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185109.00,,,,,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,185110.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185111.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185112.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.89 13.18 3.85 3.89 0 28300.08 05:19:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185113.00,,,,,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,185114.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.27 13.86 3.85 3.88 0 19840.95 05:19:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185115.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185116.00,,,,,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: $c1q0 d- 30.87 4.67 15.13 3.87 3.88 0 3707.49 05:19:47 m : AshtechGps::processRecord() - $GPGGA,185117.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185118.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185119.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185120.00,,,,,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,185121.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185122.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.63 13.08 3.85 3.89 0 28299.69 05:19:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185123.00,,,,,0,00,,,M,,M,,*44 : 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,185124.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.81 13.86 3.85 3.88 0 19840.65 05:19:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185125.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185126.00,,,,,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: $c1q0 d- 30.95 4.15 15.23 3.87 3.88 0 3707.04 05:19:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185127.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185128.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185129.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185130.00,,,,,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,185131.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185132.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 3.52 13.18 3.85 3.89 0 28299.38 05:20:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185133.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185134.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 3.80 13.86 3.85 3.88 0 19840.23 05:20:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185135.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185136.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.91 4.26 15.23 3.87 3.88 0 3706.74 05:20:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185137.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185138.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185139.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185140.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185141.00,,,,,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,185142.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 3.71 13.18 3.85 3.89 0 28298.97 05:20:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185143.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185144.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.13 13.86 3.85 3.88 0 19839.95 05:20:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185145.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185146.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.39 15.23 3.87 3.88 0 3706.30 05:20:17 m : AshtechGps::processRecord() - $GPGGA,185147.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185148.00,,,,,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,185149.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185150.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185151.00,,,,,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,185152.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 3.59 13.08 3.85 3.89 0 28298.73 05:20:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185153.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185154.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.09 13.76 3.85 3.88 0 19839.53 05:20:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185155.00,,,,,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,185156.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 4.43 15.23 3.87 3.88 0 3705.99 05:20:27 m : AshtechGps::processRecord() - $GPGGA,185157.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185158.00,,,,,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,185159.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185200.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185201.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185202.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.75 13.08 3.85 3.89 0 28298.36 05:20:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185203.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185204.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 4.13 13.76 3.85 3.88 0 19839.25 05:20:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185205.00,,,,,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,185206.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.60 15.13 3.87 3.88 0 3705.54 05:20:37 m : AshtechGps::processRecord() - $GPGGA,185207.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185208.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185209.00,,,,,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,185210.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185211.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185212.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.82 13.08 3.85 3.89 0 28298.11 05:20:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185213.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185214.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.02 13.86 3.84 3.88 0 19838.81 05:20:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185215.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185216.00,,,,,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: $c1q0 d- 30.95 4.57 15.13 3.87 3.88 0 3705.21 05:20:47 m : AshtechGps::processRecord() - $GPGGA,185217.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185218.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185219.00,,,,,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,185220.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185221.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185222.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.00 12.98 3.85 3.89 0 28297.72 05:20:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185223.00,,,,,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,185224.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.74 13.76 3.84 3.88 0 19838.52 05:20:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185225.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185226.00,,,,,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: $c1q0 d- 30.91 4.74 15.13 3.87 3.88 0 3704.73 05:20:57 m : AshtechGps::processRecord() - $GPGGA,185227.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185228.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185229.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185230.00,,,,,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,185231.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185232.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.12 13.08 3.85 3.89 0 28297.44 05:21:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185233.00,,,,,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,185234.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 5.14 13.86 3.85 3.88 0 19838.05 05:21:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185235.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185236.00,,,,,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: $c1q0 d- 30.87 5.05 15.13 3.86 3.88 0 3704.39 05:21:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185237.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185238.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185239.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185240.00,,,,,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,185241.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185242.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.41 12.98 3.85 3.89 0 28297.00 05:21:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185243.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185244.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.42 13.86 3.85 3.88 0 19837.73 05:21:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185245.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185246.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.91 4.81 15.13 3.86 3.88 0 3703.87 05:21:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185247.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185248.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185249.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185250.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185251.00,,,,,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,185252.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 3.97 12.98 3.85 3.89 0 28296.71 05:21:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185253.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185254.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.60 13.86 3.85 3.88 0 19837.27 05:21:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185255.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185256.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.94 15.23 3.86 3.88 0 3703.46 05:21:27 m : AshtechGps::processRecord() - $GPGGA,185257.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185258.00,,,,,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,185259.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185300.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185301.00,,,,,0,00,,,M,,M,,*46 : 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,185302.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.34 13.18 3.85 3.89 0 28296.27 05:21:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185303.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185304.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.45 13.86 3.85 3.88 0 19836.95 05:21:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185305.00,,,,,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,185306.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.94 15.23 3.86 3.88 0 3702.94 05:21:37 m : AshtechGps::processRecord() - $GPGGA,185307.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185308.00,,,,,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,185309.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185310.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185311.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185312.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.04 13.18 3.85 3.89 0 28295.97 05:21:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185313.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185314.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.56 13.86 3.85 3.88 0 19836.47 05:21:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185315.00,,,,,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,185316.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.91 4.64 15.13 3.86 3.88 0 3702.59 05:21:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185317.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185318.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185319.00,,,,,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,185320.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185321.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185322.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.60 13.18 3.85 3.89 0 28295.56 05:21:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185323.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185324.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.34 13.86 3.85 3.88 0 19836.17 05:21:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185325.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=3.21 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185326.00,,,,,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: $c1q0 d- 30.95 4.57 15.13 3.86 3.88 0 3702.11 05:21:57 m : AshtechGps::processRecord() - $GPGGA,185327.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074887.6, 597676.5), reached at t = 13212.19 (wplog) : Vehicle Position is error is (0.3, -1.1) : LayeredControl::execute() -- (t = 13212.194903) Behavior waypoint_yoyo:2797695 has changed to state Finished : LayeredControl - sending BehaviorFinished:2797695 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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185328.00,,,,,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,185329.00,,,,,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,185330.00,,,,,0,00,,,M,,M,,*44 : 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,185331.00,,,,,0,00,,,M,,M,,*45 : 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,185332.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.97 13.18 3.85 3.89 0 28295.28 05:22:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185333.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,185334.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion waypoint_yoyo after pos 2 : DynoLayeredControl::insert - stack now contains 60 behaviors : Waypoint Initialization: Begin waypoint control at t= 13219.36 (wplog) The current location (N,E) = 4074876.4 , 597676.8 (wplog) The next waypoint = 4074876.5 , 596705.0 (wplog) The bearing to the next w.p. is 270.0 Degrees. : LayeredControl::execute() -- (t = 13219.364412) Behavior waypoint_yoyo:3282392 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:3282392 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.34 13.86 3.85 3.88 0 19835.72 05:22:05 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185335.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185336.00,,,,,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: $c1q0 d- 30.91 4.77 15.13 3.87 3.88 0 3701.79 05:22:07 m : AshtechGps::processRecord() - $GPGGA,185337.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185338.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185339.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185340.00,,,,,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,185341.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185342.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.08 13.08 3.85 3.89 0 28294.83 05:22:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185343.00,,,,,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,185344.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 3.98 13.86 3.85 3.88 0 19835.42 05:22:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185345.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185346.00,,,,,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: $c1q0 d- 30.91 4.64 15.23 3.87 3.88 0 3701.30 05:22:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185347.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185348.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185349.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185350.00,,,,,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,185351.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185352.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 4.15 13.18 3.85 3.89 0 28294.56 05:22:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185353.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185354.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.42 13.96 3.85 3.88 0 19834.95 05:22:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185355.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185356.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.74 15.23 3.86 3.88 0 3700.97 05:22:27 m : AshtechGps::processRecord() - $GPGGA,185357.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185358.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185359.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185400.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185401.00,,,,,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,185402.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.26 13.08 3.85 3.89 0 28294.12 05:22:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185403.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185404.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.63 13.86 3.85 3.88 0 19834.64 05:22:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185405.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185406.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 5.12 15.23 3.86 3.88 0 3700.46 05:22:37 m : AshtechGps::processRecord() - $GPGGA,185407.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185408.00,,,,,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,185409.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185410.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185411.00,,,,,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,185412.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.56 13.18 3.85 3.89 0 28293.82 05:22:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185413.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185414.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.92 13.86 3.85 3.88 0 19834.15 05:22:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185415.00,,,,,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,185416.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 4.81 15.33 3.86 3.87 0 3700.11 05:22:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185417.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185418.00,,,,,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,185419.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.71 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185420.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 13265.401258) Behavior waypoint_yoyo:3282392 has changed to state Finished : LayeredControl - sending BehaviorFinished:3282392 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,185421.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185422.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 5.19 13.18 3.85 3.89 0 28293.39 05:22:53 m : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 61 behaviors : LayeredControl::execute() -- (t = 13267.771096) Behavior ascend:3284397 has changed to state Active : LayeredControl - ascend BehaviorStarted:3284397 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185423.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185424.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 3.84 13.86 3.85 3.88 0 19833.85 05:22:55 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,185425.00,,,,,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,185426.00,,,,,0,00,,,M,,M,,*44 : 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: $c1q0 d- 30.95 3.67 15.23 3.86 3.87 0 3699.64 05:22:57 m : AshtechGps::processRecord() - $GPGGA,185427.00,,,,,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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185428.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185429.00,,,,,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,185430.00,,,,,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,185431.00,,,,,0,00,,,M,,M,,*42 : 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,185432.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 2.41 13.08 3.86 3.89 0 28293.16 05:23:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185433.00,,,,,0,00,,,M,,M,,*40 : 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,185434.00,,,,,0,00,,,M,,M,,*47 : 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: $c0q0 d- 31.12 2.66 13.86 3.86 3.89 0 19833.52 05:23:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185435.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185436.00,,,,,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: $c1q0 d- 30.95 3.19 15.33 3.87 3.89 0 3699.42 05:23:07 m : AshtechGps::processRecord() - $GPGGA,185437.00,,,,,0,00,,,M,,M,,*44 : 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 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,185438.00,,,,,0,00,,,M,,M,,*4B : 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,185439.00,,,,,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,185440.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185441.00,,,,,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,185442.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 2.59 13.18 3.86 3.89 0 28292.91 05:23:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185443.00,,,,,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,185444.00,,,,,0,00,,,M,,M,,*40 : 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: $c0q0 d- 31.08 2.73 13.86 3.86 3.89 0 19833.33 05:23:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185445.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185446.00,,,,,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: $c1q0 d- 30.95 3.23 15.23 3.87 3.89 0 3699.08 05:23:17 m : AshtechGps::processRecord() - $GPGGA,185447.00,,,,,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 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,185448.00,,,,,0,00,,,M,,M,,*4C : 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,185449.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185450.00,,,,,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,185451.00,,,,,0,00,,,M,,M,,*44 : 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,185452.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 2.55 13.08 3.86 3.89 0 28292.74 05:23:23 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,185453.00,,,,,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,185454.00,,,,,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: $c0q0 d- 31.12 4.13 13.86 3.86 3.89 0 19833.03 05:23:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185455.00,,,,,0,00,,,M,,M,,*40 : 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,185456.00,,,,,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: $c1q0 d- 30.99 3.23 15.23 3.87 3.89 0 3698.86 05:23:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185457.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,185458.00,,,,,0,00,,,M,,M,,*4D : 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,185459.00,,,,,0,00,,,M,,M,,*4C : 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,185500.00,,,,,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,185501.00,,,,,0,00,,,M,,M,,*40 : 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,185502.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 2.55 12.98 3.86 3.89 0 28292.46 05:23:33 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,185503.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185504.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 4.16 13.76 3.86 3.89 0 19832.83 05:23:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185505.00,,,,,0,00,,,M,,M,,*44 : 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,185506.00,,,,,0,00,,,M,,M,,*47 : 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: $c1q0 d- 30.99 3.16 15.13 3.87 3.89 0 3698.52 05:23:37 m : AshtechGps::processRecord() - $GPGGA,185507.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,185508.00,,,,,0,00,,,M,,M,,*49 : 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,185509.00,,,,,0,00,,,M,,M,,*48 : 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,185510.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185511.00,,,,,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,185512.00,,,,,0,00,,,M,,M,,*42 : 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: $aaq0 d- 30.95 2.59 12.98 3.86 3.89 0 28292.28 05:23:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,185513.00,,,,,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,185514.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.12 2.83 13.76 3.86 3.89 0 19832.53 05:23:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185515.00,,,,,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,185516.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 30.99 3.16 15.23 3.87 3.89 0 3698.29 05:23:47 m : AshtechGps::processRecord() - $GPGGA,185517.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185518.00,,,,,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,185519.00,,,,,0,00,,,M,,M,,*49 : 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,185520.00,,,,,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,185521.00,,,,,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,185522.00,,,,,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: $aaq0 d- 30.95 2.67 12.98 3.86 3.89 0 28292.02 05:23:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185523.00,,,,,0,00,,,M,,M,,*40 : 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,185524.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 2.94 13.76 3.86 3.89 0 19832.30 05:23:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185525.00,,,,,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,185526.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 30.99 3.64 15.13 3.87 3.89 0 3697.95 05:23:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185527.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : 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,185528.00,,,,,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,185529.00,,,,,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,185530.00,,,,,0,00,,,M,,M,,*42 : 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,185531.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185532.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 2.63 12.98 3.86 3.89 0 28291.84 05:24:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185533.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185534.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 2.94 13.76 3.86 3.89 0 19831.92 05:24:05 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,185535.00,,,,,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,185536.00,,,,,0,00,,,M,,M,,*44 : 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: $c1q0 d- 30.95 3.19 15.13 3.87 3.89 0 3697.72 05:24:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185537.00,,,,,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 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185538.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,185539.00,,,,,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,185540.00,,,,,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,185541.00,,,,,0,00,,,M,,M,,*44 : 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,185542.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 2.63 12.98 3.86 3.89 0 28291.58 05:24:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185543.00,,,,,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,185544.00,,,,,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: $c0q0 d- 31.12 2.94 13.76 3.86 3.89 0 19831.72 05:24:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185545.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 13350.195449) Behavior ascend:3284397 has changed to state Finished : LayeredControl - sending BehaviorFinished:3284397 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185546.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.99 3.40 15.13 3.87 3.89 0 3697.38 05:24:17 m : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 62 behaviors : LayeredControl::execute() -- (t = 13352.165314) Behavior getgps:3287822 has changed to state Active : LayeredControl - getgps BehaviorStarted:3287822 msg to VcsServer : AshtechGps::processRecord() - $GPGGA,185547.00,,,,,0,00,,,M,,M,,*42 : 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 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,185548.00,,,,,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,185549.00,,,,,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,185550.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185551.00,,,,,0,00,,,M,,M,,*45 : 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,185552.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 0.77 12.98 3.86 3.89 0 28291.40 05:24:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185553.00,,,,,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,185554.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 31.16 1.00 13.76 3.85 3.89 0 19831.43 05:24:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185555.00,,,,,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,185556.00,,,,,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: $c1q0 d- 31.10 1.33 15.13 3.87 3.89 0 3697.22 05:24:27 m : AshtechGps::processRecord() - $GPGGA,185557.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : AshtechGps::processRecord() - $GPGGA,185558.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185559.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185600.00,,,,,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,185601.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185602.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 0.70 12.89 3.86 3.89 0 28291.31 05:24:33 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,185603.00,,,,,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,185604.00,,,,,0,00,,,M,,M,,*46 : 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: $c0q0 d- 31.16 1.11 13.76 3.85 3.89 0 19831.35 05:24:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185605.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185606.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 31.10 1.61 15.13 3.87 3.89 0 3697.06 05:24:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185607.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.860000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185608.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185609.00,,,,,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,185610.00,,,,,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,185611.00,,,,,0,00,,,M,,M,,*42 : 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,185612.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.99 0.74 12.98 3.87 3.91 0 28291.25 05:24:43 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,185613.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185614.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.08 2.98 13.76 3.87 3.90 0 19831.22 05:24:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185615.00,,,,,0,00,,,M,,M,,*46 : 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,185616.00,,,,,0,00,,,M,,M,,*45 : 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: $c1q0 d- 31.06 1.47 15.03 3.88 3.89 0 3696.96 05:24:47 m : AshtechGps::processRecord() - $GPGGA,185617.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : AshtechGps::processRecord() - $GPGGA,185618.00,3648.87541,N,12154.12342,W,1,08,1.2,-5.10,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185619.00,3648.87511,N,12154.12299,W,1,08,1.2,-4.31,M,-32.59,M,,*7D : 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,185620.00,3648.87511,N,12154.12292,W,1,08,1.2,-4.39,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 3 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185621.00,3648.87506,N,12154.12315,W,1,08,1.2,-5.49,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 4 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185622.00,3648.87509,N,12154.12345,W,1,08,1.2,-5.30,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 : BluefinBatt Reply: $aaq0 d- 30.99 0.77 12.89 3.87 3.91 0 28291.17 05:24:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185623.00,3648.87521,N,12154.12358,W,1,08,1.2,-4.91,M,-32.59,M,,*71 : 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,185624.00,3648.87528,N,12154.12353,W,1,08,1.2,-5.06,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 7 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.20 1.03 13.76 3.87 3.90 0 19831.13 05:24:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185625.00,3648.87523,N,12154.12347,W,1,08,1.2,-4.92,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 8 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,185626.00,3648.87517,N,12154.12352,W,1,08,1.2,-5.09,M,-32.59,M,,*7B : 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 : BluefinBatt Reply: $c1q0 d- 31.10 1.57 15.03 3.88 3.89 0 3696.76 05:24:57 m : AshtechGps::processRecord() - $GPGGA,185627.00,3648.87513,N,12154.12374,W,1,08,1.2,-5.14,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 10 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.873333 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185628.00,3648.87514,N,12154.12384,W,1,08,1.2,-4.72,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 11 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185629.00,3648.87514,N,12154.12375,W,1,08,1.2,-4.35,M,-32.59,M,,*7C : 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,185630.00,3648.87509,N,12154.12369,W,1,08,1.2,-4.68,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185631.00,3648.87499,N,12154.12365,W,1,08,1.2,-4.38,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 14 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185632.00,3648.87508,N,12154.12352,W,1,08,1.2,-4.26,M,-32.59,M,,*7C : 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 : BluefinBatt Reply: $aaq0 d- 31.03 0.70 12.89 3.87 3.91 0 28291.12 05:25:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185633.00,3648.87514,N,12154.12359,W,1,08,1.2,-4.75,M,-32.59,M,,*7D : 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,185634.00,3648.87521,N,12154.12379,W,1,08,1.2,-4.75,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 17 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.20 1.11 13.76 3.87 3.90 0 19831.01 05:25:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185635.00,3648.87518,N,12154.12392,W,1,08,1.2,-4.50,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 18 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185636.00,3648.87531,N,12154.12384,W,1,08,1.2,-4.13,M,-32.59,M,,*7F : 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 : BluefinBatt Reply: $c1q0 d- 31.02 1.44 15.03 3.89 3.90 0 3696.64 05:25:07 m : AshtechGps::processRecord() - $GPGGA,185637.00,3648.87519,N,12154.12368,W,1,08,1.2,-4.08,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,185638.00,3648.87527,N,12154.12360,W,1,08,1.2,-4.25,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185639.00,3648.87526,N,12154.12364,W,1,08,1.2,-4.41,M,-32.59,M,,*7F : 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,185640.00,3648.87538,N,12154.12360,W,1,08,1.2,-4.28,M,-32.59,M,,*75 : 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,185641.00,3648.87541,N,12154.12355,W,1,08,1.2,-4.19,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 24 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185642.00,3648.87545,N,12154.12353,W,1,08,1.2,-4.37,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 25 of 30 needed : BluefinBatt Reply: $aaq0 d- 31.03 0.74 12.89 3.87 3.91 0 28290.99 05:25:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185643.00,3648.87550,N,12154.12345,W,1,08,1.2,-4.40,M,-32.59,M,,*71 : 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,185644.00,3648.87545,N,12154.12347,W,1,08,1.2,-4.65,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.20 1.11 13.67 3.87 3.90 0 19830.89 05:25:15 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,185645.00,3648.87549,N,12154.12372,W,1,08,1.2,-4.88,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 28 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185646.00,3648.87544,N,12154.12395,W,1,08,1.2,-4.72,M,-32.59,M,,*7D : 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 : BluefinBatt Reply: $c1q0 d- 31.06 1.51 15.03 3.89 3.90 0 3696.48 05:25:17 m : AshtechGps::processRecord() - $GPGGA,185647.00,3648.87557,N,12154.12401,W,1,08,1.2,-4.07,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 13412.201201) Behavior getgps:3287822 has changed to state Finished : LayeredControl - sending BehaviorFinished:3287822 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 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : AshtechGps::processRecord() - $GPGGA,185648.00,3648.87551,N,12154.12377,W,1,08,1.2,-4.00,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185649.00,3648.87557,N,12154.12354,W,1,08,1.2,-4.06,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : AshtechGps::processRecord() - $GPGGA,185650.00,3648.87563,N,12154.12354,W,1,08,1.2,-4.28,M,-32.59,M,,*7D : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 63 behaviors : LayeredControl::execute() -- (t = 13415.380984) Behavior setpoint:3290081 has changed to state Active : LayeredControl - setpoint BehaviorStarted:3290081 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185651.00,3648.87563,N,12154.12354,W,1,08,1.2,-4.03,M,-32.59,M,,*75 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : DynoLayeredControlServer insertBehaves : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : DynoLayeredControl::insert - stack now contains 64 behaviors : AshtechGps::processRecord() - $GPGGA,185652.00,3648.87576,N,12154.12339,W,1,08,1.2,-3.88,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 30.99 0.81 12.98 3.87 3.91 0 28290.93 05:25:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185653.00,3648.87584,N,12154.12328,W,1,08,1.2,-3.86,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185654.00,3648.87592,N,12154.12320,W,1,08,1.2,-4.45,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.12 2.51 13.76 3.87 3.90 0 19830.77 05:25:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185655.00,3648.87595,N,12154.12339,W,1,08,1.2,-4.93,M,-32.59,M,,*7A : LayeredControl::execute() -- (t = 13420.400640) Behavior setpoint:3290081 has changed to state Finished : LayeredControl - sending BehaviorFinished:3290081 msg to VcsServer : LayeredControl::execute() -- (t = 13420.400640) Behavior descend:3290039 has changed to state Active : LayeredControl - descend BehaviorStarted:3290039 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185656.00,3648.87612,N,12154.12373,W,1,08,1.2,-5.12,M,-32.59,M,,*73 : BluefinBatt Reply: $c1q0 d- 30.95 3.95 14.94 3.89 3.90 0 3696.37 05:25:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185657.00,3648.87615,N,12154.12410,W,1,08,1.2,-4.86,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185658.00,3648.87638,N,12154.12432,W,1,08,1.2,-4.26,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185659.00,3648.87644,N,12154.12451,W,1,08,1.2,-3.89,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185700.00,3648.87659,N,12154.12457,W,1,08,1.2,-3.73,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185701.00,3648.87664,N,12154.12468,W,1,08,1.2,-3.87,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185702.00,3648.87670,N,12154.12492,W,1,08,1.2,-4.28,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 30.87 3.56 12.98 3.87 3.91 0 28290.67 05:25:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185703.00,3648.87674,N,12154.12546,W,1,08,1.2,-4.65,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185704.00,3648.87673,N,12154.12601,W,1,08,1.2,-4.67,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 3.84 13.67 3.87 3.90 0 19830.52 05:25:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185705.00,3648.87689,N,12154.12660,W,1,08,1.2,-4.57,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185706.00,3648.87689,N,12154.12719,W,1,08,1.2,-4.59,M,-32.59,M,,*73 : BluefinBatt Reply: $c1q0 d- 30.95 4.39 15.03 3.89 3.90 0 3695.93 05:25:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185707.00,3648.87701,N,12154.12790,W,1,08,1.2,-4.64,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : batts online 3, min cell voltage 3.870000, mean min cell voltage 3.876667 : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185708.00,3648.87693,N,12154.12847,W,1,08,1.2,-4.53,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185709.00,3648.87697,N,12154.12900,W,1,08,1.2,-4.26,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185710.00,3648.87690,N,12154.12948,W,1,08,1.2,-4.10,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185711.00,3648.87689,N,12154.12981,W,1,08,1.2,-4.25,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185712.00,3648.87686,N,12154.13023,W,1,08,1.2,-4.43,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 30.95 2.22 12.89 3.86 3.90 0 28290.47 05:25:43 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185713.00,3648.87711,N,12154.13042,W,1,08,1.2,-5.14,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185714.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.05 4.24 13.67 3.86 3.89 0 19830.17 05:25:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185715.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185716.00,,,,,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: $c1q0 d- 30.87 4.84 14.94 3.87 3.89 0 3695.70 05:25:47 m : Descend::execute() - Descend terminating on depth 2.008280 > 2.000000 at time 13441.999160 : LayeredControl::execute() -- (t = 13441.999160) Behavior descend:3290039 has changed to state Finished : LayeredControl - sending BehaviorFinished:3290039 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,185717.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : AshtechGps::processRecord() - $GPGGA,185718.00,,,,,0,00,,,M,,M,,*4A : 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,185719.00,,,,,0,00,,,M,,M,,*4B : 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 65 behaviors : Waypoint Initialization: Begin waypoint control at t= 13444.78 (wplog) The current location (N,E) = 4074869.2 , 597913.8 (wplog) The next waypoint = 4074876.5 , 596705.0 (wplog) The bearing to the next w.p. is 270.3 Degrees. : LayeredControl::execute() -- (t = 13444.778970) Behavior waypoint_yoyo:3291490 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:3291490 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,185720.00,,,,,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,185721.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185722.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.26 12.98 3.86 3.90 0 28290.07 05:25:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185723.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185724.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.60 13.67 3.86 3.89 0 19829.86 05:25:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185725.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185726.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.87 5.18 14.94 3.87 3.89 0 3695.20 05:25:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185727.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.860000, mean min cell voltage 3.863333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185728.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185729.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185730.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185731.00,,,,,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,185732.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.37 12.98 3.84 3.88 0 28289.79 05:26:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185733.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185734.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.49 13.76 3.85 3.88 0 19829.38 05:26:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185735.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185736.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 5.22 15.03 3.87 3.88 0 3694.85 05:26:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185737.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.853333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185738.00,,,,,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,185739.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185740.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185741.00,,,,,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,185742.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.23 12.98 3.84 3.88 0 28289.31 05:26:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185743.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185744.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.52 13.67 3.85 3.88 0 19829.04 05:26:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185745.00,,,,,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,185746.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.98 14.94 3.87 3.88 0 3694.34 05:26:17 m : AshtechGps::processRecord() - $GPGGA,185747.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185748.00,,,,,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,185749.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185750.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185751.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185752.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 5.16 12.98 3.85 3.89 0 28288.99 05:26:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185753.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185754.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.63 13.76 3.85 3.88 0 19828.57 05:26:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185755.00,,,,,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,185756.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.01 15.03 3.86 3.88 0 3694.00 05:26:27 m : AshtechGps::processRecord() - $GPGGA,185757.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185758.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185759.00,,,,,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,185800.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185801.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185802.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.19 12.98 3.85 3.89 0 28288.57 05:26:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185803.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185804.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.74 13.86 3.85 3.88 0 19828.25 05:26:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185805.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185806.00,,,,,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: $c1q0 d- 30.87 5.08 15.03 3.86 3.88 0 3693.48 05:26:37 m : AshtechGps::processRecord() - $GPGGA,185807.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185808.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185809.00,,,,,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,185810.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185811.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185812.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.49 13.08 3.85 3.89 0 28288.28 05:26:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185813.00,,,,,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,185814.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.49 13.86 3.84 3.87 0 19827.77 05:26:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185815.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185816.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.87 5.05 15.13 3.86 3.88 0 3693.14 05:26:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185817.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185818.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185819.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185820.00,,,,,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,185821.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185822.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 6.05 13.08 3.85 3.89 0 28287.85 05:26:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185823.00,,,,,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,185824.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.67 13.86 3.84 3.87 0 19827.39 05:26:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185825.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185826.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.91 5.15 15.23 3.86 3.88 0 3692.62 05:26:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185827.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185828.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185829.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185830.00,,,,,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,185831.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185832.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.30 13.08 3.85 3.89 0 28287.56 05:27:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185833.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185834.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.60 13.86 3.85 3.88 0 19826.90 05:27:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185835.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185836.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.94 15.13 3.86 3.87 0 3692.28 05:27:07 m : AshtechGps::processRecord() - $GPGGA,185837.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185838.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185839.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185840.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185841.00,,,,,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,185842.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.26 13.08 3.85 3.89 0 28287.10 05:27:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185843.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185844.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.63 13.86 3.85 3.88 0 19826.57 05:27:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185845.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185846.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 5.35 15.13 3.86 3.87 0 3691.76 05:27:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185847.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185848.00,,,,,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,185849.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185850.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185851.00,,,,,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,185852.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 4.15 13.08 3.85 3.89 0 28286.78 05:27:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185853.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185854.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.31 13.86 3.85 3.88 0 19826.04 05:27:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185855.00,,,,,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,185856.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.91 15.13 3.86 3.87 0 3691.43 05:27:27 m : AshtechGps::processRecord() - $GPGGA,185857.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185858.00,,,,,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,185859.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185900.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185901.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185902.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 30.83 4.00 13.18 3.85 3.89 0 28286.37 05:27:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185903.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185904.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 30.97 4.45 13.86 3.85 3.88 0 19825.74 05:27:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185905.00,,,,,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,185906.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.81 15.23 3.86 3.87 0 3690.94 05:27:37 m : AshtechGps::processRecord() - $GPGGA,185907.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,185908.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185909.00,,,,,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,185910.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185911.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185912.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.75 13.18 3.85 3.89 0 28286.10 05:27:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185913.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185914.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.92 13.86 3.85 3.88 0 19825.29 05:27:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185915.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185916.00,,,,,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: $c1q0 d- 30.87 4.77 15.23 3.87 3.88 0 3690.63 05:27:47 m : AshtechGps::processRecord() - $GPGGA,185917.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185918.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185919.00,,,,,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,185920.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185921.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185922.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.71 13.18 3.85 3.89 0 28285.71 05:27:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185923.00,,,,,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,185924.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 4.34 13.86 3.85 3.88 0 19825.00 05:27:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185925.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185926.00,,,,,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: $c1q0 d- 30.87 4.53 15.13 3.87 3.88 0 3690.08 05:27:57 m : AshtechGps::processRecord() - $GPGGA,185927.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185928.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185929.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185930.00,,,,,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,185931.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185932.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.44 13.08 3.85 3.89 0 28285.47 05:28:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185933.00,,,,,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,185934.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 3.91 13.86 3.85 3.88 0 19824.59 05:28:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,185935.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185936.00,,,,,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: $c1q0 d- 30.95 4.39 15.23 3.87 3.88 0 3689.79 05:28:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185937.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185938.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185939.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185940.00,,,,,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,185941.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185942.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.67 13.18 3.85 3.89 0 28285.05 05:28:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185943.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185944.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 3.95 13.86 3.85 3.88 0 19824.31 05:28:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185945.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185946.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.77 15.13 3.87 3.88 0 3689.33 05:28:17 m : AshtechGps::processRecord() - $GPGGA,185947.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,185948.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185949.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185950.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185951.00,,,,,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,185952.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.87 3.44 13.08 3.85 3.89 0 28284.80 05:28:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185953.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185954.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.24 13.86 3.85 3.88 0 19823.85 05:28:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185955.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,185956.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.22 15.23 3.87 3.88 0 3689.03 05:28:27 m : AshtechGps::processRecord() - $GPGGA,185957.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,185958.00,,,,,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,185959.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190000.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190001.00,,,,,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,190002.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 3.82 13.18 3.85 3.89 0 28284.42 05:28:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190003.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190004.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.02 13.76 3.85 3.88 0 19823.57 05:28:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190005.00,,,,,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,190006.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 4.46 15.23 3.87 3.88 0 3688.56 05:28:37 m : AshtechGps::processRecord() - $GPGGA,190007.00,,,,,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=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,190008.00,,,,,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,190009.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190010.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190011.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190012.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.37 13.18 3.85 3.89 0 28284.18 05:28:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190013.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190014.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 3.84 13.76 3.85 3.88 0 19823.16 05:28:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190015.00,,,,,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,190016.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.12 15.13 3.87 3.88 0 3688.23 05:28:47 m : AshtechGps::processRecord() - $GPGGA,190017.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,190018.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190019.00,,,,,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,190020.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190021.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190022.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.87 3.48 13.08 3.85 3.89 0 28283.80 05:28:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190023.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190024.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 3.88 13.76 3.85 3.88 0 19822.86 05:28:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190025.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190026.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c1q0 d- 30.91 4.26 15.23 3.87 3.88 0 3687.74 05:28:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190027.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190028.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190029.00,,,,,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,190030.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190031.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190032.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.89 13.08 3.85 3.89 0 28283.56 05:29:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190033.00,,,,,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,190034.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.42 13.76 3.85 3.88 0 19822.43 05:29:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190035.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190036.00,,,,,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: $c1q0 d- 30.84 4.87 15.23 3.86 3.88 0 3687.35 05:29:07 m : AshtechGps::processRecord() - $GPGGA,190037.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,190038.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190039.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190040.00,,,,,0,00,,,M,,M,,*44 : 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,190041.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190042.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.30 13.08 3.85 3.89 0 28283.13 05:29:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190043.00,,,,,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,190044.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.63 13.76 3.85 3.88 0 19822.11 05:29:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190045.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190046.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.87 5.01 15.13 3.86 3.88 0 3686.84 05:29:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190047.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190048.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190049.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190050.00,,,,,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,190051.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190052.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.23 13.18 3.85 3.88 0 28282.86 05:29:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190053.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190054.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.60 13.76 3.84 3.87 0 19821.65 05:29:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190055.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190056.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.05 15.03 3.86 3.87 0 3686.50 05:29:27 m : AshtechGps::processRecord() - $GPGGA,190057.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190058.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190059.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190100.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190101.00,,,,,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,190102.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 4.37 13.18 3.85 3.88 0 28282.43 05:29:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190103.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190104.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.52 13.86 3.84 3.87 0 19821.33 05:29:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190105.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190106.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.12 15.13 3.86 3.87 0 3685.98 05:29:37 m : AshtechGps::processRecord() - $GPGGA,190107.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190108.00,,,,,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,190109.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190110.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190111.00,,,,,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,190112.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 5.53 13.18 3.84 3.88 0 28282.10 05:29:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190113.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190114.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.52 13.86 3.84 3.87 0 19820.85 05:29:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190115.00,,,,,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,190116.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.98 15.13 3.86 3.87 0 3685.64 05:29:47 m : AshtechGps::processRecord() - $GPGGA,190117.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190118.00,,,,,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,190119.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190120.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190121.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190122.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.15 13.18 3.84 3.88 0 28281.67 05:29:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190123.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190124.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.70 13.86 3.84 3.87 0 19820.53 05:29:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190125.00,,,,,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,190126.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 4.67 15.23 3.86 3.87 0 3685.13 05:29:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190127.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190128.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190129.00,,,,,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,190130.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190131.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190132.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.15 13.08 3.85 3.88 0 28281.38 05:30:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190133.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190134.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 6.21 13.86 3.84 3.87 0 19820.07 05:30:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190135.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190136.00,,,,,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: $c1q0 d- 30.84 4.81 15.13 3.86 3.87 0 3684.79 05:30:07 m : AshtechGps::processRecord() - $GPGGA,190137.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190138.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190139.00,,,,,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,190140.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190141.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190142.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.12 13.18 3.85 3.88 0 28280.97 05:30:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190143.00,,,,,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,190144.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.42 13.86 3.84 3.87 0 19819.77 05:30:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190145.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,190146.00,,,,,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: $c1q0 d- 30.91 4.64 15.23 3.86 3.87 0 3684.28 05:30:17 m : AshtechGps::processRecord() - $GPGGA,190147.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190148.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190149.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190150.00,,,,,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,190151.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190152.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.93 13.18 3.85 3.88 0 28280.68 05:30:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190153.00,,,,,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,190154.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.49 13.86 3.84 3.87 0 19819.29 05:30:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190155.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190156.00,,,,,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: $c1q0 d- 30.84 4.94 15.23 3.86 3.87 0 3683.96 05:30:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190157.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190158.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190159.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190200.00,,,,,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,190201.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190202.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.19 13.08 3.85 3.88 0 28280.24 05:30:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190203.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190204.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.34 13.86 3.84 3.87 0 19818.98 05:30:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190205.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190206.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.94 15.13 3.86 3.87 0 3683.46 05:30:37 m : AshtechGps::processRecord() - $GPGGA,190207.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190208.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190209.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190210.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190211.00,,,,,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,190212.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 3.78 13.18 3.85 3.88 0 28279.97 05:30:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190213.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190214.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.27 13.86 3.84 3.87 0 19818.54 05:30:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190215.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190216.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.74 15.23 3.86 3.87 0 3683.15 05:30:47 m : AshtechGps::processRecord() - $GPGGA,190217.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190218.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190219.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190220.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190221.00,,,,,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,190222.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 3.78 13.18 3.85 3.88 0 28279.57 05:30:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190223.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190224.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.24 13.96 3.84 3.87 0 19818.24 05:30:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190225.00,,,,,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,190226.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.77 15.33 3.86 3.87 0 3682.66 05:30:57 m : AshtechGps::processRecord() - $GPGGA,190227.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190228.00,,,,,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,190229.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190230.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190231.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190232.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.82 13.28 3.85 3.89 0 28279.31 05:31:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190233.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190234.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 4.06 13.86 3.85 3.88 0 19817.78 05:31:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190235.00,,,,,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,190236.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.32 15.23 3.86 3.87 0 3682.36 05:31:07 m : AshtechGps::processRecord() - $GPGGA,190237.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,190238.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190239.00,,,,,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,190240.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190241.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190242.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.71 13.18 3.85 3.89 0 28278.91 05:31:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190243.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190244.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.06 13.86 3.85 3.88 0 19817.47 05:31:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190245.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190246.00,,,,,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: $c1q0 d- 30.87 4.36 15.23 3.86 3.87 0 3681.91 05:31:17 m : AshtechGps::processRecord() - $GPGGA,190247.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,190248.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190249.00,,,,,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,190250.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190251.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190252.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.78 13.18 3.84 3.88 0 28278.66 05:31:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190253.00,,,,,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,190254.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.52 13.86 3.85 3.88 0 19817.06 05:31:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190255.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190256.00,,,,,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: $c1q0 d- 30.84 4.53 15.23 3.86 3.87 0 3681.61 05:31:27 m : AshtechGps::processRecord() - $GPGGA,190257.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190258.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190259.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190300.00,,,,,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,190301.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190302.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.48 13.08 3.84 3.88 0 28278.27 05:31:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190303.00,,,,,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,190304.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.06 13.86 3.85 3.88 0 19816.77 05:31:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190305.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190306.00,,,,,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: $c1q0 d- 30.87 4.43 15.23 3.86 3.87 0 3681.16 05:31:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190307.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190308.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190309.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190310.00,,,,,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,190311.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190312.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 3.67 13.18 3.85 3.88 0 28278.02 05:31:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190313.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190314.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 3.95 13.86 3.85 3.87 0 19816.36 05:31:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190315.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190316.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.70 15.13 3.86 3.87 0 3680.86 05:31:47 m : AshtechGps::processRecord() - $GPGGA,190317.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : AshtechGps::processRecord() - $GPGGA,190318.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190319.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190320.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190321.00,,,,,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,190322.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 3.78 13.18 3.85 3.88 0 28277.62 05:31:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190323.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190324.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 30.97 4.13 13.76 3.85 3.87 0 19816.08 05:31:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190325.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190326.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 4.39 15.13 3.86 3.87 0 3680.42 05:31:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190327.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.853333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190328.00,,,,,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,190329.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190330.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190331.00,,,,,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,190332.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.83 3.63 12.98 3.85 3.88 0 28277.38 05:32:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190333.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190334.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.01 3.88 13.76 3.84 3.87 0 19815.65 05:32:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190335.00,,,,,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,190336.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 4.29 15.23 3.86 3.87 0 3680.13 05:32:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190337.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190338.00,,,,,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,190339.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190340.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190341.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190342.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.93 13.08 3.85 3.88 0 28276.98 05:32:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190343.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190344.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.45 13.76 3.84 3.87 0 19815.37 05:32:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190345.00,,,,,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,190346.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.87 15.23 3.86 3.87 0 3679.64 05:32:17 m : AshtechGps::processRecord() - $GPGGA,190347.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190348.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190349.00,,,,,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,190350.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190351.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190352.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.19 12.98 3.84 3.88 0 28276.68 05:32:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190353.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190354.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.67 13.76 3.83 3.87 0 19814.89 05:32:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190355.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190356.00,,,,,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: $c1q0 d- 30.84 5.22 15.23 3.86 3.87 0 3679.30 05:32:27 m : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,190357.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,190358.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190359.00,,,,,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,190400.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190401.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190402.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.34 12.98 3.84 3.88 0 28276.23 05:32:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190403.00,,,,,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,190404.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.38 13.86 3.83 3.87 0 19814.57 05:32:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190405.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190406.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.84 4.74 15.23 3.86 3.87 0 3678.79 05:32:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190407.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.843333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190408.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190409.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190410.00,,,,,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,190411.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190412.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.30 12.98 3.84 3.88 0 28275.96 05:32:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190413.00,,,,,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,190414.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.45 13.86 3.84 3.87 0 19814.09 05:32:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190415.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190416.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.84 4.81 15.23 3.86 3.87 0 3678.46 05:32:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190417.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190418.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190419.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190420.00,,,,,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,190421.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190422.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.45 13.18 3.84 3.88 0 28275.53 05:32:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190423.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190424.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.52 13.86 3.84 3.87 0 19813.74 05:32:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190425.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190426.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 5.18 15.23 3.86 3.87 0 3677.96 05:32:57 m : AshtechGps::processRecord() - $GPGGA,190427.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190428.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190429.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,190430.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190431.00,,,,,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,190432.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 4.08 13.08 3.84 3.88 0 28275.25 05:33:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190433.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190434.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.67 13.86 3.84 3.87 0 19813.29 05:33:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190435.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190436.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.70 15.23 3.86 3.87 0 3677.64 05:33:07 m : AshtechGps::processRecord() - $GPGGA,190437.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190438.00,,,,,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,190439.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190440.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190441.00,,,,,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,190442.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 3.97 13.08 3.84 3.88 0 28274.84 05:33:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190443.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190444.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 5.82 13.86 3.84 3.87 0 19812.99 05:33:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190445.00,,,,,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,190446.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.77 15.23 3.86 3.87 0 3677.09 05:33:17 m : AshtechGps::processRecord() - $GPGGA,190447.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190448.00,,,,,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,190449.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190450.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190451.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190452.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 4.15 13.18 3.84 3.88 0 28274.56 05:33:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190453.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190454.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.70 13.86 3.84 3.87 0 19812.48 05:33:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190455.00,,,,,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,190456.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.98 15.13 3.86 3.87 0 3676.76 05:33:27 m : AshtechGps::processRecord() - $GPGGA,190457.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190458.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190459.00,,,,,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,190500.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190501.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190502.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.00 13.18 3.84 3.88 0 28274.09 05:33:33 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190503.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190504.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.16 13.86 3.84 3.87 0 19812.17 05:33:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190505.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190506.00,,,,,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: $c1q0 d- 30.84 4.53 15.23 3.86 3.87 0 3676.27 05:33:37 m : AshtechGps::processRecord() - $GPGGA,190507.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190508.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190509.00,,,,,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,190510.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190511.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190512.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.89 13.08 3.84 3.88 0 28273.82 05:33:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190513.00,,,,,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,190514.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.78 13.86 3.84 3.87 0 19811.72 05:33:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190515.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190516.00,,,,,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: $c1q0 d- 30.84 4.84 15.13 3.86 3.87 0 3675.94 05:33:47 m : AshtechGps::processRecord() - $GPGGA,190517.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,190518.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190519.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190520.00,,,,,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,190521.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190522.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.85 13.18 3.84 3.88 0 28273.40 05:33:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190523.00,,,,,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,190524.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.42 13.96 3.84 3.87 0 19811.41 05:33:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190525.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190526.00,,,,,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: $c1q0 d- 30.84 4.60 15.23 3.86 3.87 0 3675.44 05:33:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190527.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190528.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190529.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190530.00,,,,,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,190531.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190532.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.85 13.18 3.85 3.88 0 28273.13 05:34:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190533.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190534.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.27 13.96 3.84 3.87 0 19810.97 05:34:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190535.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190536.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.70 15.33 3.86 3.87 0 3675.13 05:34:07 m : AshtechGps::processRecord() - $GPGGA,190537.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190538.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190539.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190540.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190541.00,,,,,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,190542.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.89 13.18 3.85 3.88 0 28272.70 05:34:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190543.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190544.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.09 13.96 3.84 3.87 0 19810.69 05:34:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190545.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190546.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 4.67 15.23 3.86 3.87 0 3674.67 05:34:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190547.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190548.00,,,,,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,190549.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190550.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190551.00,,,,,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,190552.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 4.12 13.18 3.85 3.88 0 28272.45 05:34:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190553.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190554.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.13 13.86 3.84 3.87 0 19810.26 05:34:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190555.00,,,,,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,190556.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.43 15.23 3.86 3.87 0 3674.36 05:34:27 m : AshtechGps::processRecord() - $GPGGA,190557.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190558.00,,,,,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,190559.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190600.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190601.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190602.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.45 13.08 3.85 3.88 0 28272.06 05:34:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190603.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190604.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 3.95 13.86 3.84 3.87 0 19809.93 05:34:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190605.00,,,,,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,190606.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 4.53 15.23 3.86 3.87 0 3673.91 05:34:37 m : AshtechGps::processRecord() - $GPGGA,190607.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190608.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190609.00,,,,,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,190610.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190611.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190612.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.71 13.18 3.84 3.88 0 28271.78 05:34:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190613.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190614.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 3.98 13.86 3.84 3.87 0 19809.50 05:34:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190615.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190616.00,,,,,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: $c1q0 d- 30.91 4.36 15.13 3.86 3.87 0 3673.61 05:34:47 m : AshtechGps::processRecord() - $GPGGA,190617.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190618.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190619.00,,,,,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,190620.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190621.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190622.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.78 13.08 3.84 3.88 0 28271.41 05:34:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190623.00,,,,,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,190624.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 3.98 13.86 3.84 3.87 0 19809.23 05:34:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190625.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190626.00,,,,,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: $c1q0 d- 30.91 4.46 15.23 3.86 3.87 0 3673.16 05:34:57 m : AshtechGps::processRecord() - $GPGGA,190627.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190628.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190629.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190630.00,,,,,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,190631.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190632.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.75 13.08 3.85 3.88 0 28271.15 05:35:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190633.00,,,,,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,190634.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.02 13.86 3.84 3.87 0 19808.82 05:35:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190635.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190636.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.84 4.36 15.23 3.85 3.87 0 3672.86 05:35:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190637.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846666 : AshtechGps::processRecord() - $GPGGA,190638.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190639.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190640.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,190641.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190642.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $aaq0 d- 30.80 3.63 13.08 3.85 3.88 0 28270.77 05:35:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190643.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190644.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 3.70 13.86 3.84 3.87 0 19808.55 05:35:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190645.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190646.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.29 15.23 3.85 3.87 0 3672.43 05:35:17 m : AshtechGps::processRecord() - $GPGGA,190647.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846666 : AshtechGps::processRecord() - $GPGGA,190648.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190649.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190650.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190651.00,,,,,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,190652.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 5.60 13.08 3.84 3.87 0 28270.50 05:35:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190653.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190654.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.45 13.86 3.84 3.87 0 19808.06 05:35:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190655.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190656.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 5.01 15.13 3.86 3.87 0 3672.09 05:35:27 m : AshtechGps::processRecord() - $GPGGA,190657.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190658.00,,,,,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,190659.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190700.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190701.00,,,,,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,190702.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 4.23 12.98 3.84 3.87 0 28270.07 05:35:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190703.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190704.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.86 6.14 13.86 3.84 3.87 0 19807.76 05:35:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190705.00,,,,,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,190706.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.87 15.23 3.86 3.87 0 3671.58 05:35:37 m : AshtechGps::processRecord() - $GPGGA,190707.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190708.00,,,,,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,190709.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190710.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190711.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190712.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.41 12.98 3.84 3.88 0 28269.78 05:35:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190713.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190714.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.45 13.86 3.84 3.87 0 19807.29 05:35:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190715.00,,,,,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,190716.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.91 15.13 3.85 3.87 0 3671.23 05:35:47 m : AshtechGps::processRecord() - $GPGGA,190717.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,190718.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190719.00,,,,,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,190720.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190721.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190722.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.26 13.18 3.84 3.88 0 28269.35 05:35:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190723.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190724.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.81 13.86 3.84 3.87 0 19806.92 05:35:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190725.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190726.00,,,,,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: $c1q0 d- 30.87 5.01 15.23 3.85 3.87 0 3670.71 05:35:57 m : AshtechGps::processRecord() - $GPGGA,190727.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,190728.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190729.00,,,,,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,190730.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190731.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190732.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.23 13.08 3.84 3.88 0 28269.07 05:36:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190733.00,,,,,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,190734.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.70 13.86 3.84 3.87 0 19806.44 05:36:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190735.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190736.00,,,,,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: $c1q0 d- 30.80 5.08 15.13 3.85 3.87 0 3670.37 05:36:07 m : AshtechGps::processRecord() - $GPGGA,190737.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,190738.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190739.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190740.00,,,,,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,190741.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190742.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.37 13.08 3.84 3.88 0 28268.59 05:36:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190743.00,,,,,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,190744.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.56 13.96 3.84 3.87 0 19806.13 05:36:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190745.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190746.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 30.80 5.05 15.13 3.85 3.87 0 3669.85 05:36:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190747.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190748.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190749.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190750.00,,,,,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,190751.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190752.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.37 13.18 3.84 3.88 0 28268.27 05:36:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190753.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Lisst processRecord(): record too short(17) : Lisst processRecord(): record too short(24) : Lisst processRecord(): record too short(2) : Lisst processRecord(): record too short(4) : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190754.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Lisst::readRecord() - record so far: OK : BluefinBatt Reply: $c0q0 d- 30.94 4.52 13.96 3.84 3.87 0 19805.66 05:36:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190755.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190756.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.80 5.15 15.23 3.85 3.87 0 3669.49 05:36:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190757.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190758.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : Lisst::flushReadRecord() - record so far: o sh€— : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190759.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Lisst:starting Lisst... : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190800.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : Lisst::flushReadRecord() - record so far: : Lisst:started : AshtechGps::processRecord() - $GPGGA,190801.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Lisst::readRecord() - resetting lisst : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Lisst processRecord(): record too short(242) : AshtechGps::processRecord() - $GPGGA,190802.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 4.52 13.18 3.84 3.88 0 28267.83 05:36:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190803.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190804.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.85 13.96 3.84 3.87 0 19805.34 05:36:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190805.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190806.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 5.63 15.23 3.85 3.87 0 3668.96 05:36:37 m : AshtechGps::processRecord() - $GPGGA,190807.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190808.00,,,,,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,190809.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190810.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190811.00,,,,,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,190812.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.97 13.18 3.84 3.88 0 28267.54 05:36:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190813.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190814.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.27 13.96 3.84 3.87 0 19804.89 05:36:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190815.00,,,,,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,190816.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.60 15.23 3.85 3.87 0 3668.64 05:36:47 m : AshtechGps::processRecord() - $GPGGA,190817.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,190818.00,,,,,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,190819.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : Isus::select() timeout : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190820.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190821.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190822.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.08 13.18 3.84 3.88 0 28267.12 05:36:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190823.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190824.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.16 13.96 3.84 3.87 0 19804.60 05:36:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190825.00,,,,,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,190826.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : DepthEnvelope -- Measured altitude 13.388351 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 4.67 15.33 3.85 3.87 0 3668.15 05:36:57 m : DepthEnvelope -- Measured altitude 13.388351 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,190827.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.388351 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.388351 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.388351 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.388351 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : DepthEnvelope -- Measured altitude 13.388351 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,190828.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.113201 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.113201 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.113201 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.113201 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.113201 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,190829.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.113201 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.113201 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.716805 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190830.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190831.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190832.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.91 0.89 13.28 3.85 3.89 0 28266.89 05:37:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190833.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190834.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 31.01 2.66 13.96 3.84 3.87 0 19804.27 05:37:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190835.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190836.00,,,,,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: $c1q0 d- 30.87 4.15 15.33 3.86 3.87 0 3667.95 05:37:07 m : AshtechGps::processRecord() - $GPGGA,190837.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190838.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190839.00,,,,,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,190840.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190841.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190842.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.89 13.18 3.85 3.89 0 28266.58 05:37:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190843.00,,,,,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,190844.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 30.97 4.42 13.96 3.84 3.87 0 19803.98 05:37:15 m : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,190845.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.636658 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 25.332563 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,190846.00,,,,,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: $c1q0 d- 30.84 4.81 15.23 3.86 3.87 0 3667.46 05:37:17 m : AshtechGps::processRecord() - $GPGGA,190847.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,190848.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190849.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190850.00,,,,,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,190851.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,190852.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.56 13.18 3.85 3.89 0 28266.38 05:37:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190853.00,,,,,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,190854.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.06 13.86 3.85 3.88 0 19803.61 05:37:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190855.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190856.00,,,,,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: $c1q0 d- 30.87 4.46 15.33 3.87 3.88 0 3667.22 05:37:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190857.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,190858.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190859.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190900.00,,,,,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,190901.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190902.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.75 13.18 3.85 3.89 0 28266.00 05:37:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190903.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190904.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.13 13.86 3.85 3.88 0 19803.32 05:37:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190905.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190906.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 4.60 15.33 3.87 3.88 0 3666.75 05:37:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190907.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,190908.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190909.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190910.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190911.00,,,,,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,190912.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 3.67 13.18 3.84 3.88 0 28265.75 05:37:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190913.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190914.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.24 13.86 3.84 3.87 0 19802.87 05:37:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190915.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190916.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 4.36 15.13 3.86 3.87 0 3666.45 05:37:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190917.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190918.00,,,,,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,190919.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190920.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190921.00,,,,,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,190922.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 4.08 13.08 3.84 3.88 0 28265.39 05:37:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190923.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190924.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 3.98 13.86 3.84 3.87 0 19802.59 05:37:55 m : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190925.00,,,,,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,190926.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 4.50 15.23 3.86 3.87 0 3666.00 05:37:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190927.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190928.00,,,,,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,190929.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190930.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190931.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190932.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.64 13.08 3.84 3.88 0 28265.12 05:38:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190933.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190934.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.06 13.86 3.84 3.87 0 19802.15 05:38:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190935.00,,,,,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,190936.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 4.32 15.23 3.85 3.87 0 3665.69 05:38:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190937.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190938.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190939.00,,,,,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,190940.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190941.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190942.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.63 12.98 3.84 3.88 0 28264.72 05:38:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190943.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190944.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 3.80 13.86 3.84 3.87 0 19801.88 05:38:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190945.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190946.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.87 4.39 15.23 3.85 3.87 0 3665.23 05:38:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,190947.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190948.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190949.00,,,,,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,190950.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190951.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190952.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.33 13.08 3.84 3.88 0 28264.47 05:38:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,190953.00,,,,,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,190954.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.02 13.76 3.84 3.87 0 19801.46 05:38:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190955.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190956.00,,,,,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: $c1q0 d- 30.84 4.91 15.13 3.86 3.87 0 3664.94 05:38:27 m : AshtechGps::processRecord() - $GPGGA,190957.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,190958.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,190959.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191000.00,,,,,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,191001.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191002.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.26 13.08 3.84 3.88 0 28264.06 05:38:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191003.00,,,,,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,191004.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.67 13.76 3.84 3.87 0 19801.14 05:38:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191005.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191006.00,,,,,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: $c1q0 d- 30.80 5.15 15.13 3.86 3.87 0 3664.35 05:38:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191007.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,191008.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191009.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191010.00,,,,,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,191011.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191012.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 5.64 13.08 3.83 3.87 0 28263.77 05:38:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191013.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=4.72 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191014.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.45 13.86 3.83 3.87 0 19800.64 05:38:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191015.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074876.5, 596705.0), reached at t = 14220.40 (wplog) : Vehicle Position is error is (0.2, 0.1) : LayeredControl::execute() -- (t = 14220.395836) Behavior waypoint_yoyo:3291490 has changed to state Finished : LayeredControl - sending BehaviorFinished:3291490 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 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,191016.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 30.80 4.84 15.23 3.85 3.87 0 3664.02 05:38:47 m : AshtechGps::processRecord() - $GPGGA,191017.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191018.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191019.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,191020.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,191021.00,,,,,0,00,,,M,,M,,*42 : 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 66 behaviors : Waypoint Initialization: Begin waypoint control at t= 14226.79 (wplog) The current location (N,E) = 4074877.0 , 596694.9 (wplog) The next waypoint = 4078759.5 , 596660.7 (wplog) The bearing to the next w.p. is 359.5 Degrees. : LayeredControl::execute() -- (t = 14226.795398) Behavior waypoint_yoyo:3318515 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:3318515 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191022.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.82 13.08 3.83 3.87 0 28263.36 05:38:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191023.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191024.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.34 13.86 3.83 3.87 0 19800.32 05:38:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191025.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191026.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.91 15.13 3.85 3.87 0 3663.46 05:38:57 m : AshtechGps::processRecord() - $GPGGA,191027.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191028.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191029.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191030.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191031.00,,,,,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,191032.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 4.12 13.08 3.84 3.88 0 28263.05 05:39:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191033.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191034.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.38 13.86 3.84 3.87 0 19799.87 05:39:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191035.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191036.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 5.08 15.23 3.85 3.87 0 3663.13 05:39:07 m : AshtechGps::processRecord() - $GPGGA,191037.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191038.00,,,,,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,191039.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191040.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191041.00,,,,,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,191042.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.93 13.18 3.84 3.88 0 28262.62 05:39:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191043.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191044.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.49 13.86 3.84 3.87 0 19799.56 05:39:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191045.00,,,,,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,191046.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 5.15 15.13 3.85 3.87 0 3662.61 05:39:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191047.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191048.00,,,,,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,191049.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191050.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191051.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191052.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.12 13.08 3.84 3.88 0 28262.33 05:39:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191053.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191054.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.63 13.86 3.83 3.87 0 19799.03 05:39:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191055.00,,,,,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,191056.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.98 15.23 3.85 3.87 0 3662.27 05:39:27 m : AshtechGps::processRecord() - $GPGGA,191057.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191058.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191059.00,,,,,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,191100.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191101.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191102.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.23 13.18 3.84 3.88 0 28261.88 05:39:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191103.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191104.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.60 13.86 3.83 3.87 0 19798.71 05:39:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191105.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191106.00,,,,,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: $c1q0 d- 30.80 5.08 15.13 3.85 3.87 0 3661.75 05:39:37 m : AshtechGps::processRecord() - $GPGGA,191107.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191108.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191109.00,,,,,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,191110.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191111.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191112.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.12 13.08 3.84 3.87 0 28261.60 05:39:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191113.00,,,,,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,191114.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.63 13.86 3.83 3.87 0 19798.23 05:39:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191115.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191116.00,,,,,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: $c1q0 d- 30.80 5.84 15.23 3.85 3.87 0 3661.40 05:39:47 m : AshtechGps::processRecord() - $GPGGA,191117.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191118.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191119.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191120.00,,,,,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,191121.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191122.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.26 13.18 3.84 3.87 0 28261.17 05:39:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191123.00,,,,,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,191124.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.74 13.86 3.83 3.87 0 19797.91 05:39:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191125.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191126.00,,,,,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: $c1q0 d- 30.84 5.18 15.23 3.85 3.87 0 3660.87 05:39:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191127.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191128.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191129.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191130.00,,,,,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,191131.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191132.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 4.08 13.08 3.84 3.87 0 28260.88 05:40:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191133.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191134.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 5.14 13.86 3.83 3.87 0 19797.39 05:40:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191135.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,191136.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 5.01 15.23 3.85 3.87 0 3660.52 05:40:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191137.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191138.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191139.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191140.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.707158 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.707158 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,191141.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.707158 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.707158 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.707158 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.707158 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.707158 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191142.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 4.37 13.18 3.84 3.87 0 28260.43 05:40:13 m : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191143.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.303481 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.364363 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.364363 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191144.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.364363 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.364363 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.364363 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.05 1.68 13.86 3.83 3.87 0 19797.08 05:40:15 m : DepthEnvelope -- Measured altitude 14.364363 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.364363 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191145.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.682529 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191146.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 30.99 1.51 15.23 3.85 3.87 0 3660.12 05:40:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191147.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191148.00,,,,,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,191149.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191150.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191151.00,,,,,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,191152.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 3.52 13.18 3.85 3.89 0 28260.34 05:40:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191153.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191154.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.27 13.96 3.85 3.88 0 19796.83 05:40:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191155.00,,,,,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,191156.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 5.08 15.23 3.87 3.88 0 3659.87 05:40:27 m : AshtechGps::processRecord() - $GPGGA,191157.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,191158.00,,,,,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,191159.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191200.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191201.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,191202.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.76 4.34 13.18 3.85 3.89 0 28259.93 05:40:33 m : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.794912 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 25.326033 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,191203.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191204.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 31.05 1.79 13.86 3.85 3.88 0 19796.51 05:40:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191205.00,,,,,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,191206.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.95 2.16 15.23 3.87 3.88 0 3659.47 05:40:37 m : AshtechGps::processRecord() - $GPGGA,191207.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,191208.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191209.00,,,,,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,191210.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191211.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191212.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.82 13.08 3.84 3.88 0 28259.80 05:40:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191213.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191214.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.31 13.86 3.85 3.87 0 19796.21 05:40:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191215.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191216.00,,,,,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: $c1q0 d- 30.80 6.18 15.13 3.86 3.87 0 3659.19 05:40:47 m : AshtechGps::processRecord() - $GPGGA,191217.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,191218.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191219.00,,,,,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,191220.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191221.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191222.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.71 13.18 3.84 3.88 0 28259.41 05:40:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191223.00,,,,,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,191224.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 4.31 13.86 3.85 3.87 0 19795.91 05:40:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191225.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191226.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.84 4.60 15.13 3.86 3.87 0 3658.66 05:40:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191227.00,,,,,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=1.75 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191228.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191229.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191230.00,,,,,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,191231.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191232.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.67 13.08 3.84 3.88 0 28259.15 05:41:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191233.00,,,,,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,191234.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.34 13.86 3.84 3.87 0 19795.47 05:41:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191235.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191236.00,,,,,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: $c1q0 d- 30.87 4.67 15.13 3.85 3.87 0 3658.34 05:41:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191237.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,191238.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191239.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191240.00,,,,,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,191241.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191242.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.97 13.08 3.84 3.88 0 28258.71 05:41:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191243.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191244.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 3.91 13.86 3.84 3.87 0 19795.16 05:41:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191245.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191246.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.87 4.39 15.13 3.85 3.87 0 3657.87 05:41:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191247.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191248.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191249.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191250.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191251.00,,,,,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,191252.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 3.85 13.08 3.84 3.88 0 28258.45 05:41:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191253.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191254.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 3.98 13.86 3.84 3.87 0 19794.73 05:41:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191255.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191256.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.29 15.23 3.85 3.87 0 3657.57 05:41:27 m : AshtechGps::processRecord() - $GPGGA,191257.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191258.00,,,,,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,191259.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191300.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191301.00,,,,,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,191302.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.48 12.98 3.84 3.88 0 28258.10 05:41:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191303.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191304.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 4.09 13.76 3.84 3.87 0 19794.44 05:41:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191305.00,,,,,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,191306.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : resetting depth trajectory : BluefinBatt Reply: $c1q0 d- 30.84 4.60 15.13 3.85 3.87 0 3657.12 05:41:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191307.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191308.00,,,,,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,191309.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191310.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191311.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191312.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.52 12.98 3.84 3.87 0 28257.81 05:41:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191313.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191314.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 30.94 4.20 13.76 3.84 3.87 0 19793.99 05:41:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191315.00,,,,,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,191316.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 4.70 15.23 3.85 3.87 0 3656.80 05:41:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191317.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191318.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191319.00,,,,,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,191320.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191321.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191322.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.00 12.89 3.84 3.87 0 28257.41 05:41:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191323.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191324.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 5.10 13.76 3.84 3.87 0 19793.62 05:41:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191325.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191326.00,,,,,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: $c1q0 d- 30.84 4.94 15.13 3.85 3.87 0 3656.28 05:41:57 m : AshtechGps::processRecord() - $GPGGA,191327.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,191328.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191329.00,,,,,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,191330.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191331.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191332.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.23 12.89 3.83 3.87 0 28257.12 05:42:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191333.00,,,,,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,191334.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.60 13.86 3.83 3.86 0 19793.14 05:42:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191335.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191336.00,,,,,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: $c1q0 d- 30.76 5.60 15.13 3.85 3.87 0 3655.95 05:42:07 m : AshtechGps::processRecord() - $GPGGA,191337.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191338.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191339.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191340.00,,,,,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,191341.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191342.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.23 12.98 3.83 3.87 0 28256.64 05:42:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191343.00,,,,,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,191344.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.49 13.86 3.83 3.86 0 19792.82 05:42:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191345.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191346.00,,,,,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: $c1q0 d- 30.84 4.98 15.13 3.85 3.87 0 3655.44 05:42:17 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191347.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191348.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191349.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191350.00,,,,,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,191351.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191352.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.19 12.98 3.83 3.87 0 28256.37 05:42:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191353.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191354.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.34 13.86 3.83 3.87 0 19792.35 05:42:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191355.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191356.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.80 4.81 15.13 3.85 3.87 0 3655.09 05:42:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191357.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191358.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191359.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191400.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191401.00,,,,,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,191402.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.85 13.08 3.83 3.87 0 28255.94 05:42:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191403.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191404.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.27 13.86 3.83 3.87 0 19792.01 05:42:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191405.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191406.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.91 15.13 3.85 3.87 0 3654.60 05:42:37 m : AshtechGps::processRecord() - $GPGGA,191407.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191408.00,,,,,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,191409.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191410.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191411.00,,,,,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,191412.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 5.38 13.08 3.83 3.87 0 28255.66 05:42:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191413.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191414.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.56 13.86 3.83 3.87 0 19791.54 05:42:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191415.00,,,,,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,191416.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.67 15.23 3.85 3.87 0 3654.26 05:42:47 m : AshtechGps::processRecord() - $GPGGA,191417.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191418.00,,,,,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,191419.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191420.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191421.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191422.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 4.04 13.08 3.83 3.87 0 28255.25 05:42:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191423.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191424.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.34 13.86 3.83 3.87 0 19791.25 05:42:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191425.00,,,,,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,191426.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 4.81 15.23 3.85 3.87 0 3653.79 05:42:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191427.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191428.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191429.00,,,,,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,191430.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191431.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191432.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.97 13.08 3.84 3.87 0 28254.97 05:43:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191433.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191434.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.49 13.86 3.83 3.87 0 19790.77 05:43:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191435.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191436.00,,,,,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: $c1q0 d- 30.76 4.84 15.13 3.85 3.86 0 3653.45 05:43:07 m : AshtechGps::processRecord() - $GPGGA,191437.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191438.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191439.00,,,,,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,191440.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191441.00,,,,,0,00,,,M,,M,,*40 : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191442.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.08 13.08 3.84 3.87 0 28254.54 05:43:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191443.00,,,,,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,191444.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.31 13.96 3.83 3.87 0 19790.47 05:43:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191445.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191446.00,,,,,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: $c1q0 d- 30.80 4.53 15.13 3.85 3.86 0 3652.97 05:43:17 m : AshtechGps::processRecord() - $GPGGA,191447.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191448.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.618341 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.618341 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.618341 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191449.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.618341 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.618341 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.618341 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.618341 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.438466 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,191450.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.438466 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.438466 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.438466 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.438466 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.438466 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191451.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.438466 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191452.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.87 2.11 13.18 3.84 3.87 0 28254.27 05:43:23 m : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.573878 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 15.446099 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,191453.00,,,,,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,191454.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 31.08 1.29 13.86 3.83 3.87 0 19790.13 05:43:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191455.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191456.00,,,,,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: $c1q0 d- 30.95 2.23 15.13 3.85 3.87 0 3652.76 05:43:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191457.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191458.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191459.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191500.00,,,,,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,191501.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191502.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.41 13.18 3.84 3.87 0 28254.03 05:43:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191503.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191504.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.63 13.86 3.83 3.87 0 19789.86 05:43:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191505.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191506.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.80 5.05 15.23 3.85 3.87 0 3652.32 05:43:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191507.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191508.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191509.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191510.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191511.00,,,,,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,191512.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.82 13.18 3.84 3.87 0 28253.73 05:43:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191513.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191514.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.42 13.86 3.83 3.87 0 19789.38 05:43:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191515.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191516.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 4.74 15.23 3.85 3.87 0 3651.99 05:43:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191517.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191518.00,,,,,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,191519.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191520.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191521.00,,,,,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,191522.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 3.63 13.08 3.84 3.87 0 28253.34 05:43:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191523.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191524.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.09 13.86 3.83 3.87 0 19789.09 05:43:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191525.00,,,,,0,00,,,M,,M,,*43 : 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,191526.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.67 15.13 3.85 3.87 0 3651.53 05:43:57 m : AshtechGps::processRecord() - $GPGGA,191527.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191528.00,,,,,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,191529.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191530.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191531.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191532.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.00 13.18 3.84 3.87 0 28253.08 05:44:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191533.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191534.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.02 13.86 3.83 3.87 0 19788.65 05:44:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191535.00,,,,,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,191536.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.53 15.23 3.85 3.87 0 3651.21 05:44:07 m : AshtechGps::processRecord() - $GPGGA,191537.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191538.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191539.00,,,,,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,191540.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191541.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191542.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.56 13.08 3.84 3.87 0 28252.70 05:44:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191543.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191544.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 3.84 13.86 3.83 3.87 0 19788.36 05:44:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191545.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191546.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.84 4.39 15.23 3.85 3.87 0 3650.75 05:44:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191547.00,,,,,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=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191548.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191549.00,,,,,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,191550.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191551.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191552.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 3.48 13.08 3.83 3.87 0 28252.46 05:44:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191553.00,,,,,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,191554.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.02 13.86 3.84 3.87 0 19787.93 05:44:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191555.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191556.00,,,,,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: $c1q0 d- 30.84 4.43 15.23 3.85 3.87 0 3650.45 05:44:27 m : AshtechGps::processRecord() - $GPGGA,191557.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,191558.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191559.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191600.00,,,,,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,191601.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191602.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.52 13.08 3.83 3.87 0 28252.09 05:44:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191603.00,,,,,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,191604.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 3.80 13.86 3.84 3.87 0 19787.66 05:44:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191605.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191606.00,,,,,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: $c1q0 d- 30.80 4.32 15.23 3.85 3.87 0 3650.01 05:44:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191607.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191608.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191609.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191610.00,,,,,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,191611.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191612.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.41 12.98 3.83 3.87 0 28251.84 05:44:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191613.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191614.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.09 13.76 3.83 3.87 0 19787.21 05:44:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191615.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191616.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.77 15.13 3.85 3.87 0 3649.70 05:44:47 m : AshtechGps::processRecord() - $GPGGA,191617.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191618.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191619.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191620.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191621.00,,,,,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,191622.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.93 12.89 3.83 3.87 0 28251.43 05:44:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191623.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191624.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.52 13.76 3.83 3.87 0 19786.90 05:44:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191625.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191626.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 4.98 15.03 3.85 3.87 0 3649.20 05:44:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191627.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191628.00,,,,,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,191629.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191630.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191631.00,,,,,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,191632.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 4.26 12.98 3.83 3.87 0 28251.14 05:45:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191633.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191634.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 5.10 13.76 3.83 3.86 0 19786.41 05:45:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191635.00,,,,,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,191636.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 5.15 15.03 3.85 3.86 0 3648.85 05:45:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191637.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191638.00,,,,,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,191639.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191640.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191641.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191642.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.23 12.98 3.83 3.87 0 28250.72 05:45:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191643.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191644.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 6.39 13.76 3.83 3.86 0 19786.09 05:45:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191645.00,,,,,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,191646.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 5.12 15.03 3.85 3.86 0 3648.35 05:45:17 m : AshtechGps::processRecord() - $GPGGA,191647.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191648.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191649.00,,,,,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,191650.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191651.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191652.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.26 12.98 3.83 3.87 0 28250.44 05:45:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191653.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191654.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.38 13.86 3.83 3.86 0 19785.61 05:45:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191655.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191656.00,,,,,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: $c1q0 d- 30.80 4.81 15.13 3.85 3.86 0 3648.02 05:45:27 m : AshtechGps::processRecord() - $GPGGA,191657.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191658.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191659.00,,,,,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,191700.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191701.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191702.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.45 13.08 3.83 3.87 0 28250.03 05:45:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191703.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191704.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.34 13.86 3.83 3.86 0 19785.26 05:45:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191705.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191706.00,,,,,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: $c1q0 d- 30.80 5.84 15.13 3.85 3.86 0 3647.51 05:45:37 m : AshtechGps::processRecord() - $GPGGA,191707.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191708.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191709.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191710.00,,,,,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,191711.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191712.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.12 13.08 3.83 3.87 0 28249.74 05:45:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191713.00,,,,,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,191714.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.52 13.86 3.83 3.86 0 19784.80 05:45:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191715.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191716.00,,,,,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: $c1q0 d- 30.76 4.87 15.23 3.85 3.86 0 3647.18 05:45:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191717.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191718.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191719.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191720.00,,,,,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,191721.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191722.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 3.97 13.18 3.83 3.87 0 28249.32 05:45:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191723.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191724.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.45 13.86 3.83 3.86 0 19784.48 05:45:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191725.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191726.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.81 15.23 3.85 3.86 0 3646.68 05:45:57 m : AshtechGps::processRecord() - $GPGGA,191727.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191728.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191729.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191730.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191731.00,,,,,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,191732.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 4.12 13.18 3.83 3.87 0 28249.05 05:46:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191733.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191734.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.42 13.86 3.83 3.87 0 19784.01 05:46:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191735.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191736.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.50 15.23 3.85 3.86 0 3646.35 05:46:07 m : AshtechGps::processRecord() - $GPGGA,191737.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191738.00,,,,,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,191739.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191740.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191741.00,,,,,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,191742.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.12 13.08 3.83 3.87 0 28248.65 05:46:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191743.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191744.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : BluefinBatt Reply: $c0q0 d- 30.90 4.52 13.86 3.83 3.87 0 19783.71 05:46:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191745.00,,,,,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,191746.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 4.87 15.23 3.85 3.86 0 3645.86 05:46:17 m : AshtechGps::processRecord() - $GPGGA,191747.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191748.00,,,,,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,191749.00,,,,,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=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : DepthEnvelope -- Measured altitude 13.178302 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.178302 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,191752.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.178302 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.178302 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.72 4.12 13.08 3.83 3.87 0 28248.38 05:46:23 m : DepthEnvelope -- Measured altitude 13.178302 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.178302 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.178302 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191753.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.830113 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.830113 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 11.830113 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.830113 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 11.830113 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191754.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 11.830113 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 11.830113 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 30.97 3.52 13.86 3.83 3.87 0 19783.26 05:46:25 m : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191755.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.076698 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,191756.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 15.291495 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.95 1.40 15.13 3.85 3.86 0 3645.55 05:46:27 m : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191759.00,,,,,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,191800.00,,,,,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=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.80 3.07 13.18 3.83 3.87 0 28248.13 05:46:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.16 13.86 3.83 3.87 0 19783.13 05:46:35 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191806.00,,,,,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: $c1q0 d- 30.80 5.01 15.23 3.85 3.86 0 3645.18 05:46:37 m : AshtechGps::processRecord() - $GPGGA,191807.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191808.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,191809.00,,,,,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,191810.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191811.00,,,,,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=1.75 : 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: , : DepthEnvelope -- Measured altitude 14.761890 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.76 4.00 13.18 3.83 3.87 0 28247.85 05:46:43 m : DepthEnvelope -- Measured altitude 14.761890 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.761890 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.761890 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,191813.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.761890 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.761890 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.761890 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 24.948383 over abort altitude 15.000000, starting prop! : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 3.98 13.86 3.83 3.86 0 19782.68 05:46:45 m : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.95 1.51 15.13 3.85 3.86 0 3644.86 05:46:47 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191820.00,,,,,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,191821.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.76 3.37 13.08 3.83 3.87 0 28247.56 05:46:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.31 13.86 3.83 3.86 0 19782.51 05:46:55 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.80 4.60 15.13 3.85 3.86 0 3644.49 05:46:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191827.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191831.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 4.49 13.08 3.83 3.87 0 28247.30 05:47:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191834.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 4.13 13.86 3.83 3.87 0 19782.06 05:47:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.57 15.23 3.85 3.86 0 3644.13 05:47:07 m : AshtechGps::processRecord() - $GPGGA,191837.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191838.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191841.00,,,,,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,191842.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 5.12 13.18 3.83 3.87 0 28246.92 05:47:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.94 4.16 13.86 3.83 3.87 0 19781.74 05:47:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.84 4.57 15.13 3.85 3.86 0 3643.66 05:47:17 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191848.00,,,,,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,191849.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191851.00,,,,,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,191852.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.76 3.89 13.08 3.84 3.87 0 28246.65 05:47:23 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.27 13.76 3.83 3.87 0 19781.30 05:47:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191855.00,,,,,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,191856.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 4.53 15.13 3.85 3.87 0 3643.34 05:47:27 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : AshtechGps::processRecord() - $GPGGA,191858.00,,,,,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,191859.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191901.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191902.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 3.52 13.08 3.84 3.87 0 28246.27 05:47:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 3.88 13.76 3.83 3.87 0 19781.01 05:47:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 4.26 15.13 3.85 3.87 0 3642.86 05:47:37 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.840000 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191909.00,,,,,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,191910.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191911.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 5.30 12.98 3.83 3.87 0 28245.99 05:47:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 4.06 13.67 3.83 3.87 0 19780.60 05:47:45 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191916.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 30.84 4.50 15.23 3.85 3.86 0 3642.56 05:47:47 m : AshtechGps::processRecord() - $GPGGA,191917.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191918.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,191921.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.80 2.18 12.89 3.83 3.87 0 28245.63 05:47:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191923.00,,,,,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,191924.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 3.52 13.67 3.83 3.87 0 19780.31 05:47:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.76 4.64 15.03 3.85 3.86 0 3642.10 05:47:57 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191930.00,,,,,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,191931.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.34 12.98 3.83 3.87 0 28245.36 05:48:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.56 13.76 3.83 3.86 0 19779.85 05:48:05 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.76 4.87 15.03 3.85 3.86 0 3641.71 05:48:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191937.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 4.15 12.89 3.83 3.87 0 28244.90 05:48:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191944.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.67 13.76 3.83 3.86 0 19779.51 05:48:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 5.22 15.13 3.85 3.86 0 3641.20 05:48:17 m : AshtechGps::processRecord() - $GPGGA,191947.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,191948.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191951.00,,,,,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,191952.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 4.04 12.98 3.83 3.87 0 28244.61 05:48:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.49 13.86 3.83 3.86 0 19779.02 05:48:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.98 15.13 3.85 3.86 0 3640.85 05:48:27 m : AshtechGps::processRecord() - $GPGGA,191957.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,191958.00,,,,,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,191959.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.34 12.98 3.83 3.87 0 28244.18 05:48:33 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.60 13.86 3.83 3.86 0 19778.70 05:48:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192005.00,,,,,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,192006.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 5.25 15.13 3.85 3.86 0 3640.32 05:48:37 m : AshtechGps::processRecord() - $GPGGA,192007.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192008.00,,,,,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,192009.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192012.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.23 13.08 3.83 3.87 0 28243.89 05:48:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.70 13.86 3.83 3.86 0 19778.21 05:48:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 5.01 15.13 3.85 3.86 0 3639.97 05:48:47 m : AshtechGps::processRecord() - $GPGGA,192017.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192018.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192019.00,,,,,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,192020.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 4.19 13.18 3.83 3.87 0 28243.45 05:48:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.81 13.86 3.83 3.86 0 19777.89 05:48:55 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192026.00,,,,,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: $c1q0 d- 30.80 4.98 15.23 3.85 3.86 0 3639.46 05:48:57 m : AshtechGps::processRecord() - $GPGGA,192027.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192028.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.12 13.08 3.83 3.87 0 28243.16 05:49:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192033.00,,,,,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,192034.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.24 13.86 3.83 3.86 0 19777.40 05:49:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.74 15.13 3.85 3.86 0 3639.09 05:49:07 m : AshtechGps::processRecord() - $GPGGA,192037.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192038.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192040.00,,,,,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,192041.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 3.93 13.08 3.83 3.87 0 28242.77 05:49:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.56 13.86 3.83 3.86 0 19777.09 05:49:15 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 5.22 15.13 3.85 3.86 0 3638.60 05:49:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192047.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192048.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192051.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 3.82 13.08 3.83 3.87 0 28242.49 05:49:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,192053.00,,,,,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 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192054.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.38 13.86 3.83 3.86 0 19776.63 05:49:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.80 4.94 15.23 3.85 3.86 0 3638.28 05:49:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.891963 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192059.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.891963 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.891963 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.891963 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.891963 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.891963 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192100.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.891963 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192101.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.816156 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.780549 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192102.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.780549 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.780549 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.83 1.41 13.08 3.83 3.87 0 28242.08 05:49:33 m : DepthEnvelope -- Measured altitude 12.780549 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.780549 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.780549 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192103.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.780549 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.767385 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.767385 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.767385 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.767385 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192104.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.767385 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.767385 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.767385 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 31.05 1.14 13.86 3.83 3.86 0 19776.35 05:49:35 m : DepthEnvelope -- altitude 16.401864 over abort altitude 15.000000, starting prop! : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.91 1.57 15.23 3.85 3.86 0 3637.91 05:49:37 m : AshtechGps::processRecord() - $GPGGA,192107.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192108.00,,,,,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,192109.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192111.00,,,,,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,192112.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 4.08 13.18 3.84 3.88 0 28241.96 05:49:43 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.45 13.86 3.85 3.87 0 19776.07 05:49:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192115.00,,,,,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,192116.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 5.18 15.23 3.86 3.87 0 3637.64 05:49:47 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,192118.00,,,,,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,192119.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192121.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192122.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 4.30 13.18 3.84 3.88 0 28241.53 05:49:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.56 13.86 3.85 3.87 0 19775.75 05:49:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 5.05 15.13 3.86 3.87 0 3637.13 05:49:57 m : AshtechGps::processRecord() - $GPGGA,192127.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,192128.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192129.00,,,,,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,192130.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192131.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 3.85 13.08 3.83 3.87 0 28241.25 05:50:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.20 13.86 3.83 3.86 0 19775.29 05:50:05 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192136.00,,,,,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: $c1q0 d- 30.76 4.46 15.13 3.85 3.86 0 3636.82 05:50:07 m : AshtechGps::processRecord() - $GPGGA,192137.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192138.00,,,,,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=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 3.93 13.18 3.83 3.87 0 28240.80 05:50:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192143.00,,,,,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,192144.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 4.16 13.86 3.83 3.86 0 19775.00 05:50:15 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.67 15.23 3.85 3.86 0 3636.32 05:50:17 m : AshtechGps::processRecord() - $GPGGA,192147.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192148.00,,,,,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=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192150.00,,,,,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,192151.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 3.71 13.08 3.83 3.87 0 28240.56 05:50:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 3.98 13.86 3.83 3.87 0 19774.59 05:50:25 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.98 15.23 3.85 3.86 0 3636.02 05:50:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192157.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192158.00,,,,,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=1.75 : Isus::select() timeout : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 3.97 13.08 3.83 3.87 0 28240.11 05:50:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192204.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.16 13.76 3.83 3.87 0 19774.25 05:50:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.53 15.23 3.85 3.86 0 3635.55 05:50:37 m : AshtechGps::processRecord() - $GPGGA,192207.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192208.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192211.00,,,,,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,192212.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 3.71 12.98 3.83 3.87 0 28239.86 05:50:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 3.80 13.76 3.83 3.86 0 19773.77 05:50:45 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 4.64 15.13 3.85 3.86 0 3635.26 05:50:47 m : 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: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192218.00,,,,,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,192219.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 3.78 12.98 3.83 3.87 0 28239.48 05:50:53 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.67 13.76 3.83 3.86 0 19773.50 05:50:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192225.00,,,,,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,192226.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.98 15.13 3.85 3.86 0 3634.81 05:50:57 m : AshtechGps::processRecord() - $GPGGA,192227.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192228.00,,,,,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,192229.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192232.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.37 12.98 3.83 3.87 0 28239.20 05:51:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.49 13.76 3.83 3.86 0 19773.04 05:51:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.76 5.08 15.03 3.85 3.86 0 3634.47 05:51:07 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192239.00,,,,,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,192240.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.34 12.98 3.83 3.87 0 28238.76 05:51:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.56 13.76 3.83 3.86 0 19772.71 05:51:15 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192246.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.73 5.46 15.13 3.85 3.86 0 3633.95 05:51:17 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.41 12.98 3.83 3.87 0 28238.47 05:51:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192253.00,,,,,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,192254.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.38 13.86 3.83 3.86 0 19772.23 05:51:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 5.18 15.03 3.85 3.86 0 3633.61 05:51:27 m : AshtechGps::processRecord() - $GPGGA,192257.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192258.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192300.00,,,,,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,192301.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.19 12.98 3.83 3.87 0 28238.04 05:51:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,192304.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 5.96 13.86 3.83 3.86 0 19771.92 05:51:35 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.94 15.13 3.85 3.86 0 3633.06 05:51:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192307.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192308.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 4.19 13.08 3.83 3.87 0 28237.77 05:51:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192314.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.86 4.38 13.86 3.83 3.86 0 19771.44 05:51:45 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.74 15.13 3.85 3.86 0 3632.74 05:51:47 m : AshtechGps::processRecord() - $GPGGA,192317.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192318.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192321.00,,,,,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,192322.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 4.19 13.18 3.83 3.87 0 28237.30 05:51:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.49 13.86 3.83 3.86 0 19771.14 05:51:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 5.15 15.13 3.85 3.86 0 3632.25 05:51:57 m : AshtechGps::processRecord() - $GPGGA,192327.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192328.00,,,,,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,192329.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 3.93 13.08 3.83 3.87 0 28237.01 05:52:03 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.42 13.86 3.83 3.86 0 19770.68 05:52:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192335.00,,,,,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,192336.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 5.05 15.13 3.85 3.86 0 3631.91 05:52:07 m : AshtechGps::processRecord() - $GPGGA,192337.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192338.00,,,,,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,192339.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192341.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192342.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 3.89 13.08 3.83 3.87 0 28236.58 05:52:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.24 13.86 3.83 3.86 0 19770.36 05:52:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.74 15.13 3.85 3.86 0 3631.44 05:52:17 m : AshtechGps::processRecord() - $GPGGA,192347.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192348.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192349.00,,,,,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,192350.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192351.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.00 13.08 3.83 3.87 0 28236.32 05:52:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.24 13.86 3.83 3.86 0 19769.91 05:52:25 m : 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: , : DepthEnvelope -- Measured altitude 13.578998 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.578998 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.578998 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.578998 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192356.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.578998 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.578998 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.578998 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.60 15.13 3.85 3.86 0 3631.12 05:52:27 m : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192357.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192358.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.577960 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 15.352527 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192401.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.80 1.89 13.18 3.83 3.87 0 28236.02 05:52:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192403.00,,,,,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,192404.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.90 3.44 13.86 3.83 3.86 0 19769.73 05:52:35 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.60 15.13 3.85 3.86 0 3630.78 05:52:37 m : AshtechGps::processRecord() - $GPGGA,192407.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192408.00,,,,,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=1.75 : 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: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192410.00,,,,,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,192411.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.12 13.18 3.83 3.87 0 28235.75 05:52:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.31 13.86 3.83 3.86 0 19769.32 05:52:45 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.64 15.23 3.85 3.86 0 3630.42 05:52:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192417.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192418.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192421.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.04 13.18 3.83 3.87 0 28235.34 05:52:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192424.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.86 4.56 13.86 3.83 3.86 0 19769.02 05:52:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.50 15.23 3.85 3.86 0 3629.94 05:52:57 m : AshtechGps::processRecord() - $GPGGA,192427.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192428.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192431.00,,,,,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,192432.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.72 3.82 13.08 3.83 3.87 0 28235.04 05:53:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.24 13.86 3.83 3.86 0 19768.60 05:53:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.50 15.23 3.85 3.86 0 3629.64 05:53:07 m : AshtechGps::processRecord() - $GPGGA,192437.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192438.00,,,,,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,192439.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 30.72 3.71 13.18 3.83 3.87 0 28234.63 05:53:13 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.06 13.86 3.83 3.86 0 19768.32 05:53:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192445.00,,,,,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,192446.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.32 15.13 3.85 3.86 0 3629.15 05:53:17 m : AshtechGps::processRecord() - $GPGGA,192447.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192448.00,,,,,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,192449.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192452.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.72 3.67 13.08 3.83 3.87 0 28234.36 05:53:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.90 4.06 13.76 3.83 3.86 0 19767.87 05:53:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.43 15.13 3.85 3.86 0 3628.85 05:53:27 m : AshtechGps::processRecord() - $GPGGA,192457.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192458.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192459.00,,,,,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,192500.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.23 12.98 3.83 3.87 0 28233.96 05:53:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.27 13.76 3.83 3.86 0 19767.58 05:53:35 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192506.00,,,,,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: $c1q0 d- 30.76 4.57 15.23 3.85 3.86 0 3628.39 05:53:37 m : AshtechGps::processRecord() - $GPGGA,192507.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192508.00,,,,,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=1.75 : 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: , : resetting depth trajectory : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 3.67 12.98 3.83 3.87 0 28233.69 05:53:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192513.00,,,,,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,192514.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 5.32 13.76 3.83 3.86 0 19767.16 05:53:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,192515.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 5.18 15.13 3.85 3.86 0 3628.03 05:53:47 m : AshtechGps::processRecord() - $GPGGA,192517.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192518.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192520.00,,,,,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,192521.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.30 12.89 3.83 3.87 0 28233.29 05:53:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.49 13.67 3.83 3.86 0 19766.84 05:53:55 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.91 15.03 3.85 3.86 0 3627.51 05:53:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192527.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192528.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192531.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.30 12.98 3.83 3.87 0 28233.01 05:54:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192534.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.86 4.63 13.76 3.83 3.86 0 19766.37 05:54:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.98 15.03 3.84 3.86 0 3627.17 05:54:07 m : AshtechGps::processRecord() - $GPGGA,192537.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,192538.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192541.00,,,,,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,192542.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.23 13.08 3.83 3.87 0 28232.58 05:54:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.74 13.86 3.83 3.86 0 19766.06 05:54:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.98 15.03 3.84 3.86 0 3626.65 05:54:17 m : AshtechGps::processRecord() - $GPGGA,192547.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : Isus::select() timeout : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192548.00,,,,,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,192549.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.12 13.08 3.83 3.87 0 28232.29 05:54:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.67 13.86 3.82 3.85 0 19765.57 05:54:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192555.00,,,,,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,192556.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 5.08 15.13 3.84 3.85 0 3626.30 05:54:27 m : AshtechGps::processRecord() - $GPGGA,192557.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : AshtechGps::processRecord() - $GPGGA,192558.00,,,,,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,192559.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192601.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192602.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.30 12.98 3.83 3.87 0 28231.81 05:54:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.56 13.86 3.82 3.85 0 19765.26 05:54:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.76 5.05 15.23 3.84 3.85 0 3625.79 05:54:37 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : AshtechGps::processRecord() - $GPGGA,192608.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192609.00,,,,,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,192610.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192611.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.19 13.08 3.83 3.87 0 28231.54 05:54:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.49 13.86 3.83 3.86 0 19764.79 05:54:45 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192616.00,,,,,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: $c1q0 d- 30.73 4.81 15.13 3.85 3.86 0 3625.46 05:54:47 m : AshtechGps::processRecord() - $GPGGA,192617.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192618.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.26 13.18 3.83 3.87 0 28231.11 05:54:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192623.00,,,,,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,192624.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.52 13.86 3.83 3.86 0 19764.48 05:54:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.76 4.87 15.13 3.85 3.86 0 3624.94 05:54:57 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192630.00,,,,,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,192631.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.12 13.08 3.83 3.87 0 28230.83 05:55:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.34 13.86 3.83 3.86 0 19764.02 05:55:05 m : 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: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.60 15.23 3.84 3.86 0 3624.62 05:55:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192637.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,192638.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 3.67 13.18 3.83 3.87 0 28230.42 05:55:13 m : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192643.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.714102 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192644.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.556736 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.556736 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.556736 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $c0q0 d- 30.86 4.06 13.86 3.83 3.86 0 19763.73 05:55:15 m : DepthEnvelope -- Measured altitude 12.556736 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.556736 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192645.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.556736 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.556736 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.884256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.884256 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.884256 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,192646.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.884256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.884256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.884256 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.884256 under allowable altitude 15.000000. 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: $c1q0 d- 30.87 1.57 15.23 3.84 3.86 0 3624.17 05:55:17 m : DepthEnvelope -- altitude 15.524967 over abort altitude 15.000000, starting prop! : AshtechGps::processRecord() - $GPGGA,192647.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,192648.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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::execute() -- (t = 15215.797647) Behavior waypoint_yoyo:3318515 has changed to state Finished : LayeredControl - sending BehaviorFinished:3318515 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192651.00,,,,,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,192652.00,,,,,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 : BluefinBatt Reply: $aaq0 d- 30.76 2.82 13.18 3.85 3.89 0 28230.29 05:55:23 m : 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: , : Isus::select() timeout : 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,192654.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 4.13 13.86 3.85 3.88 0 19763.44 05:55:25 m : 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: , : 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,192656.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion ascend after pos 2 : DynoLayeredControl::insert - stack now contains 67 behaviors : BluefinBatt Reply: $c1q0 d- 30.76 4.94 15.33 3.87 3.87 0 3623.97 05:55:27 m : LayeredControl::execute() -- (t = 15221.777237) Behavior ascend:3581911 has changed to state Active : LayeredControl - ascend BehaviorStarted:3581911 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192658.00,,,,,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,192659.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.72 3.11 13.18 3.85 3.89 0 28229.92 05:55:33 m : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : BluefinBatt Reply: $c0q0 d- 30.94 3.08 13.86 3.85 3.88 0 19763.11 05:55:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192705.00,,,,,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,192706.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.12 15.23 3.87 3.87 0 3623.54 05:55:37 m : AshtechGps::processRecord() - $GPGGA,192707.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,192708.00,,,,,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,192709.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192712.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 2.67 13.08 3.84 3.87 0 28229.74 05:55:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : BluefinBatt Reply: $c0q0 d- 30.94 3.12 13.86 3.84 3.87 0 19762.79 05:55:45 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 3.26 15.13 3.85 3.87 0 3623.31 05:55:47 m : AshtechGps::processRecord() - $GPGGA,192717.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,192718.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192719.00,,,,,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,192720.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 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: , : BluefinBatt Reply: $aaq0 d- 30.76 2.55 13.08 3.84 3.87 0 28229.46 05:55:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 30.94 2.94 13.86 3.84 3.87 0 19762.58 05:55:55 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192726.00,,,,,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 : BluefinBatt Reply: $c1q0 d- 30.80 3.33 15.13 3.85 3.87 0 3622.96 05:55:57 m : AshtechGps::processRecord() - $GPGGA,192727.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,192728.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 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: , : BluefinBatt Reply: $aaq0 d- 30.76 2.52 13.18 3.84 3.88 0 28229.29 05:56:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192733.00,,,,,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,192734.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 30.94 2.98 13.76 3.84 3.87 0 19762.26 05:56:05 m : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : BluefinBatt Reply: $c1q0 d- 30.84 3.36 15.13 3.85 3.87 0 3622.68 05:56:07 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : 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=1 vert=0.52 horzlMode=1 horz=6.27 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192740.00,,,,,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,192741.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : BluefinBatt Reply: $aaq0 d- 30.76 2.52 13.08 3.84 3.88 0 28229.03 05:56:13 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $c0q0 d- 30.94 2.94 13.76 3.84 3.87 0 19762.05 05:56:15 m : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : BluefinBatt Reply: $c1q0 d- 30.84 3.50 15.23 3.85 3.87 0 3622.32 05:56:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192747.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : BluefinBatt Reply: $aaq0 d- 30.76 2.55 12.98 3.84 3.88 0 28228.81 05:56:23 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192754.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 2.94 13.76 3.84 3.87 0 19761.74 05:56:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.26 15.13 3.85 3.86 0 3622.09 05:56:27 m : AshtechGps::processRecord() - $GPGGA,192757.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,192758.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,192759.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192801.00,,,,,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,192802.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.76 2.48 12.98 3.84 3.88 0 28228.54 05:56:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 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: , : BluefinBatt Reply: $c0q0 d- 30.94 2.87 13.76 3.84 3.87 0 19761.54 05:56:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 3.40 15.13 3.85 3.86 0 3621.76 05:56:37 m : AshtechGps::processRecord() - $GPGGA,192807.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192808.00,,,,,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,192809.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.76 2.48 12.98 3.84 3.88 0 28228.37 05:56:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 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: , : BluefinBatt Reply: $c0q0 d- 30.94 2.87 13.76 3.84 3.87 0 19761.22 05:56:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192815.00,,,,,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,192816.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 15301.401782) Behavior ascend:3581911 has changed to state Finished : LayeredControl - sending BehaviorFinished:3581911 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 : BluefinBatt Reply: $c1q0 d- 30.80 3.43 15.13 3.85 3.87 0 3621.54 05:56:47 m : AshtechGps::processRecord() - $GPGGA,192817.00,,,,,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,192818.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion getgps after pos 2 : DynoLayeredControl::insert - stack now contains 68 behaviors : LayeredControl::execute() -- (t = 15303.781619) Behavior getgps:3603554 has changed to state Active : LayeredControl - getgps BehaviorStarted:3603554 msg to VcsServer : 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: , : 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,192820.00,,,,,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,192821.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192822.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.83 1.03 12.98 3.84 3.88 0 28228.11 05:56:53 m : 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: , : 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,192824.00,3649.82734,N,12154.94900,W,1,08,1.0,-2.90,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 1 of 30 needed : BluefinBatt Reply: $c0q0 d- 31.01 1.14 13.76 3.84 3.87 0 19761.00 05:56:55 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,192825.00,3649.82804,N,12154.94933,W,1,08,1.0,-3.57,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 2 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192826.00,3649.82872,N,12154.94933,W,1,08,1.0,-2.97,M,-32.59,M,,*78 : 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 : BluefinBatt Reply: $c1q0 d- 30.95 1.40 15.03 3.85 3.87 0 3621.21 05:56:57 m : AshtechGps::processRecord() - $GPGGA,192827.00,3649.82915,N,12154.94925,W,1,08,1.0,-3.62,M,-32.59,M,,*75 : 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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,192828.00,3649.82968,N,12154.94935,W,1,08,1.0,-3.80,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 5 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192829.00,3649.83048,N,12154.94932,W,1,08,1.0,-4.55,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 6 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192830.00,3649.83109,N,12154.94939,W,1,08,1.0,-4.50,M,-32.59,M,,*7C : 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,192831.00,3649.83164,N,12154.94926,W,1,08,1.0,-4.62,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 8 of 30 needed : Isus::select() timeout : 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,192832.00,3649.83217,N,12154.94944,W,1,08,1.0,-4.76,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 9 of 30 needed : BluefinBatt Reply: $aaq0 d- 30.87 0.77 12.98 3.85 3.89 0 28228.04 05:57:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192833.00,3649.83264,N,12154.94945,W,1,08,1.0,-4.36,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 10 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,192834.00,3649.83310,N,12154.94948,W,1,08,1.0,-4.36,M,-32.59,M,,*74 : 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 : BluefinBatt Reply: $c0q0 d- 31.01 1.21 13.67 3.85 3.88 0 19760.86 05:57:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192835.00,3649.83374,N,12154.94959,W,1,08,1.0,-4.62,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 12 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192836.00,3649.83416,N,12154.94987,W,1,08,1.0,-4.68,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 13 of 30 needed : BluefinBatt Reply: $c1q0 d- 30.91 1.61 15.03 3.87 3.87 0 3621.11 05:57:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192837.00,3649.83460,N,12154.94992,W,1,08,1.0,-4.19,M,-32.59,M,,*7D : 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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,192838.00,3649.83505,N,12154.94978,W,1,08,1.0,-3.76,M,-32.59,M,,*7A : 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 : AshtechGps::processRecord() - $GPGGA,192839.00,3649.83549,N,12154.94953,W,1,08,1.0,-3.92,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 16 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192840.00,3649.83593,N,12154.94958,W,1,08,1.0,-4.43,M,-32.59,M,,*79 : 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,192841.00,3649.83635,N,12154.94979,W,1,08,1.0,-4.43,M,-32.59,M,,*74 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192842.00,3649.83678,N,12154.94994,W,1,08,1.0,-4.34,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 19 of 30 needed : BluefinBatt Reply: $aaq0 d- 30.83 0.89 12.98 3.85 3.89 0 28227.95 05:57:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192843.00,3649.83723,N,12154.94997,W,1,08,1.0,-3.90,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 20 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192844.00,3649.83765,N,12154.94962,W,1,08,1.0,-3.57,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 21 of 30 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 31.01 1.76 13.67 3.85 3.88 0 19760.77 05:57:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192845.00,3649.83804,N,12154.94940,W,1,08,1.0,-3.95,M,-32.59,M,,*7A : 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,192846.00,3649.83841,N,12154.94934,W,1,08,1.0,-4.39,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 23 of 30 needed : BluefinBatt Reply: $c1q0 d- 30.95 1.44 15.03 3.87 3.87 0 3620.92 05:57:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192847.00,3649.83877,N,12154.94953,W,1,08,1.0,-4.80,M,-32.59,M,,*7D : 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 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,192848.00,3649.83914,N,12154.94969,W,1,08,1.0,-4.51,M,-32.59,M,,*73 : 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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192849.00,3649.83952,N,12154.94958,W,1,08,1.0,-4.20,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 26 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192850.00,3649.83988,N,12154.94948,W,1,08,1.0,-4.19,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 27 of 30 needed : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192851.00,3649.84017,N,12154.94933,W,1,08,1.0,-4.11,M,-32.59,M,,*7D : 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,192852.00,3649.84050,N,12154.94925,W,1,08,1.0,-4.22,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 29 of 30 needed : BluefinBatt Reply: $aaq0 d- 30.83 0.77 12.79 3.85 3.89 0 28227.89 05:57:23 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,192853.00,3649.84082,N,12154.94927,W,1,08,1.0,-4.36,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 30 of 30 needed : LayeredControl::execute() -- (t = 15338.199261) Behavior getgps:3603554 has changed to state Finished : LayeredControl - sending BehaviorFinished:3603554 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,192854.00,3649.84112,N,12154.94927,W,1,08,1.0,-4.16,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- 31.05 1.00 13.76 3.85 3.88 0 19760.61 05:57:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192855.00,3649.84142,N,12154.94908,W,1,08,1.0,-4.11,M,-32.59,M,,*70 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 69 behaviors : LayeredControl::execute() -- (t = 15340.579098) Behavior setpoint:3613277 has changed to state Active : LayeredControl - setpoint BehaviorStarted:3613277 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,192856.00,3649.84174,N,12154.94895,W,1,08,1.0,-4.26,M,-32.59,M,,*77 : BluefinBatt Reply: $c1q0 d- 30.91 1.51 15.03 3.87 3.88 0 3620.82 05:57:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192857.00,3649.84210,N,12154.94903,W,1,08,1.0,-4.38,M,-32.59,M,,*76 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192858.00,3649.84242,N,12154.94896,W,1,08,1.0,-4.18,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,192859.00,3649.84274,N,12154.94886,W,1,08,1.0,-3.90,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,192900.00,3649.84301,N,12154.94854,W,1,08,1.0,-3.89,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192901.00,3649.84328,N,12154.94837,W,1,08,1.0,-4.05,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,192902.00,3649.84359,N,12154.94835,W,1,08,1.0,-4.20,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 30.87 0.77 12.98 3.85 3.89 0 28227.79 05:57:33 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,192903.00,3649.84378,N,12154.94810,W,1,08,1.0,-4.10,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192904.00,3649.84411,N,12154.94799,W,1,08,1.0,-4.34,M,-32.59,M,,*77 : Isus::select() timeout : BluefinBatt Reply: $c0q0 d- 31.01 1.61 13.76 3.85 3.88 0 19760.54 05:57:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192905.00,3649.84435,N,12154.94777,W,1,08,1.0,-4.52,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,192906.00,3649.84467,N,12154.94793,W,1,08,1.0,-4.72,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 : BluefinBatt Reply: $c1q0 d- 30.87 1.47 14.94 3.87 3.88 0 3620.66 05:57:37 m : AshtechGps::processRecord() - $GPGGA,192907.00,3649.84491,N,12154.94789,W,1,08,1.0,-4.69,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,192908.00,3649.84515,N,12154.94792,W,1,08,1.0,-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,192909.00,3649.84522,N,12154.94777,W,1,08,1.0,-4.10,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,192910.00,3649.84539,N,12154.94720,W,1,08,1.0,-3.74,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192911.00,3649.84565,N,12154.94691,W,1,08,1.0,-4.37,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192912.00,3649.84591,N,12154.94685,W,1,08,1.0,-4.84,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.87 0.85 12.98 3.85 3.89 0 28227.74 05:57:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192913.00,3649.84623,N,12154.94690,W,1,08,1.0,-4.57,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,192914.00,3649.84651,N,12154.94674,W,1,08,1.0,-4.59,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 31.05 0.96 13.67 3.85 3.88 0 19760.37 05:57:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192915.00,3649.84671,N,12154.94663,W,1,08,1.0,-4.46,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,192916.00,3649.84693,N,12154.94664,W,1,08,1.0,-4.49,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 : BluefinBatt Reply: $c1q0 d- 30.91 1.57 14.94 3.87 3.88 0 3620.56 05:57:47 m : AshtechGps::processRecord() - $GPGGA,192917.00,3649.84719,N,12154.94654,W,1,08,1.0,-4.54,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,192918.00,3649.84743,N,12154.94654,W,1,08,1.0,-4.55,M,-32.59,M,,*79 : LayeredControl::execute() -- (t = 15363.597522) Behavior setpoint:3613277 has changed to state Finished : LayeredControl - sending BehaviorFinished:3613277 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,192919.00,3649.84765,N,12154.94636,W,1,08,1.0,-4.22,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,192920.00,3649.84789,N,12154.94608,W,1,08,1.0,-4.09,M,-32.59,M,,*74 : DynoLayeredControlServer insertBehaves : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion setpoint after pos 2 : DynoLayeredControl::insert - stack now contains 70 behaviors : LayeredControl::execute() -- (t = 15365.567387) Behavior setpoint:3620096 has changed to state Active : LayeredControl - setpoint BehaviorStarted:3620096 msg to VcsServer : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192921.00,3649.84813,N,12154.94573,W,1,08,1.0,-4.08,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DynoLayeredControlServer insertBehaves : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192922.00,3649.84826,N,12154.94545,W,1,08,1.0,-4.42,M,-32.59,M,,*79 : DynoLayeredControl::insert - inserting 1 behaviors : DynoLayeredControl::insert - insertion descend after pos 2 : BluefinBatt Reply: $aaq0 d- 30.83 0.70 12.98 3.85 3.89 0 28227.65 05:57:53 m : DynoLayeredControl::insert - stack now contains 71 behaviors : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192923.00,3649.84841,N,12154.94542,W,1,08,1.0,-4.65,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192924.00,3649.84848,N,12154.94543,W,1,08,1.0,-5.13,M,-32.59,M,,*74 : BluefinBatt Reply: $c0q0 d- 30.97 2.15 13.67 3.85 3.88 0 19760.29 05:57:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192925.00,3649.84880,N,12154.94557,W,1,08,1.0,-5.22,M,-32.59,M,,*76 : LayeredControl::execute() -- (t = 15370.597042) Behavior setpoint:3620096 has changed to state Finished : LayeredControl - sending BehaviorFinished:3620096 msg to VcsServer : LayeredControl::execute() -- (t = 15370.597042) Behavior descend:3620054 has changed to state Active : LayeredControl - descend BehaviorStarted:3620054 msg to VcsServer : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192926.00,3649.84913,N,12154.94554,W,1,08,1.0,-4.82,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.29 14.94 3.87 3.88 0 3620.34 05:57:57 m : AshtechGps::processRecord() - $GPGGA,192927.00,3649.84950,N,12154.94522,W,1,08,1.0,-4.50,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.850000, mean min cell voltage 3.856667 : AshtechGps::processRecord() - $GPGGA,192928.00,3649.84980,N,12154.94487,W,1,08,1.0,-4.15,M,-32.59,M,,*73 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192929.00,3649.85002,N,12154.94429,W,1,08,1.0,-4.23,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192930.00,3649.85048,N,12154.94414,W,1,08,1.0,-4.39,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192931.00,3649.85097,N,12154.94370,W,1,08,1.0,-4.25,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192932.00,3649.85155,N,12154.94335,W,1,08,1.0,-4.24,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 30.68 3.71 12.79 3.83 3.87 0 28227.43 05:58:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192933.00,3649.85211,N,12154.94298,W,1,08,1.0,-4.45,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192934.00,3649.85270,N,12154.94303,W,1,08,1.0,-5.00,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 30.86 4.99 13.67 3.83 3.86 0 19759.92 05:58:05 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192935.00,3649.85337,N,12154.94328,W,1,08,1.0,-5.12,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192936.00,3649.85408,N,12154.94343,W,1,08,1.0,-4.92,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.80 3.98 15.03 3.85 3.86 0 3619.99 05:58:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192937.00,3649.85474,N,12154.94361,W,1,08,1.0,-4.67,M,-32.59,M,,*70 : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192938.00,3649.85540,N,12154.94345,W,1,08,1.0,-4.50,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192939.00,3649.85605,N,12154.94352,W,1,08,1.0,-4.62,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192940.00,3649.85678,N,12154.94368,W,1,08,1.0,-4.67,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192941.00,3649.85754,N,12154.94377,W,1,08,1.0,-4.54,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192942.00,3649.85819,N,12154.94397,W,1,08,1.0,-4.74,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 30.76 2.70 12.79 3.83 3.87 0 28227.05 05:58:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192943.00,3649.85882,N,12154.94402,W,1,08,1.0,-5.00,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,192944.00,3649.85984,N,12154.94481,W,1,04,1.6,-3.03,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.97 2.33 13.67 3.83 3.86 0 19759.69 05:58:15 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192946.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 2.064997 > 2.000000 at time 15391.795590 : LayeredControl::execute() -- (t = 15391.795590) Behavior descend:3620054 has changed to state Finished : LayeredControl - sending BehaviorFinished:3620054 msg to VcsServer : *** Stack empty after processing. Waiting on VCS... : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.15 14.94 3.85 3.86 0 3619.63 05:58:17 m : AshtechGps::processRecord() - $GPGGA,192947.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=-1 vert=0.00 horzlMode=-1 horz=0.00 speedMode=-1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192948.00,,,,,0,00,,,M,,M,,*47 : 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 72 behaviors : Waypoint Initialization: Begin waypoint control at t= 15393.57 (wplog) The current location (N,E) = 4076676.0 , 596686.5 (wplog) The next waypoint = 4078759.5 , 596660.7 (wplog) The bearing to the next w.p. is 359.3 Degrees. : LayeredControl::execute() -- (t = 15393.565469) Behavior waypoint_yoyo:3627824 has changed to state Active : LayeredControl - waypoint_yoyo BehaviorStarted:3627824 msg to VcsServer : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.08 12.98 3.83 3.87 0 28226.82 05:58:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,192953.00,,,,,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,192954.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.63 13.67 3.83 3.86 0 19759.25 05:58:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.94 14.94 3.85 3.86 0 3619.30 05:58:27 m : AshtechGps::processRecord() - $GPGGA,192957.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,192958.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193000.00,,,,,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,193001.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.26 12.89 3.83 3.87 0 28226.39 05:58:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.70 13.67 3.83 3.86 0 19758.93 05:58:35 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.98 15.03 3.85 3.86 0 3618.79 05:58:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193007.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,193008.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,193010.00,,,,,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,193011.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.37 12.98 3.83 3.87 0 28226.10 05:58:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193014.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.67 13.76 3.83 3.86 0 19758.44 05:58:45 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 5.05 14.94 3.84 3.86 0 3618.44 05:58:47 m : AshtechGps::processRecord() - $GPGGA,193017.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193018.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193021.00,,,,,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,193022.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.45 12.98 3.83 3.87 0 28225.66 05:58:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.52 13.76 3.83 3.86 0 19758.13 05:58:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 5.01 15.03 3.84 3.86 0 3617.88 05:58:57 m : AshtechGps::processRecord() - $GPGGA,193027.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193028.00,,,,,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,193029.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.67 12.98 3.83 3.87 0 28225.37 05:59:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.67 13.76 3.83 3.86 0 19757.67 05:59:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193035.00,,,,,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,193036.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.94 15.03 3.84 3.86 0 3617.54 05:59:07 m : AshtechGps::processRecord() - $GPGGA,193037.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193038.00,,,,,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,193039.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193041.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193042.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.41 13.08 3.83 3.87 0 28224.93 05:59:13 m : Isus::select() timeout : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.60 13.86 3.83 3.86 0 19757.34 05:59:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 5.22 15.03 3.84 3.86 0 3617.03 05:59:17 m : AshtechGps::processRecord() - $GPGGA,193047.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193048.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193049.00,,,,,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,193050.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.60 12.98 3.83 3.87 0 28224.60 05:59:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.70 13.86 3.83 3.86 0 19756.86 05:59:25 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193056.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.65 6.28 15.13 3.84 3.85 0 3616.68 05:59:27 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193058.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193101.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.37 13.18 3.83 3.87 0 28224.16 05:59:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193103.00,,,,,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,193104.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.60 13.86 3.83 3.86 0 19756.55 05:59:35 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.91 15.13 3.84 3.85 0 3616.16 05:59:37 m : AshtechGps::processRecord() - $GPGGA,193107.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193108.00,,,,,0,00,,,M,,M,,*4A : 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=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193110.00,,,,,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,193111.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.37 13.18 3.83 3.87 0 28223.86 05:59:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.74 13.86 3.83 3.85 0 19756.08 05:59:45 m : 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: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : DepthEnvelope -- Measured altitude 14.079753 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.91 15.23 3.84 3.85 0 3615.82 05:59:47 m : DepthEnvelope -- Measured altitude 14.079753 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,193117.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.079753 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.079753 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.079753 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.079753 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : DepthEnvelope -- Measured altitude 14.079753 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193118.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.358189 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.76 2.63 13.08 3.83 3.87 0 28223.49 05:59:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193124.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.90 3.73 13.86 3.83 3.85 0 19755.86 05:59:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 4.50 15.23 3.84 3.85 0 3615.43 05:59:57 m : AshtechGps::processRecord() - $GPGGA,193127.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193128.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193129.00,,,,,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=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193131.00,,,,,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,193132.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.41 13.18 3.83 3.87 0 28223.22 06:00:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.27 13.86 3.83 3.86 0 19755.45 06:00:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.73 4.53 15.23 3.85 3.86 0 3615.11 06:00:07 m : 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: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193138.00,,,,,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,193139.00,,,,,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=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.08 13.18 3.83 3.87 0 28222.82 06:00:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.09 13.86 3.83 3.86 0 19755.17 06:00:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193145.00,,,,,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,193146.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.53 15.23 3.85 3.86 0 3614.64 06:00:17 m : AshtechGps::processRecord() - $GPGGA,193147.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,193148.00,,,,,0,00,,,M,,M,,*4E : 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,193149.00,,,,,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=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193152.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 3.89 13.18 3.83 3.87 0 28222.57 06:00:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.09 13.86 3.83 3.86 0 19754.75 06:00:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.36 15.23 3.85 3.86 0 3614.33 06:00:27 m : AshtechGps::processRecord() - $GPGGA,193157.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,193158.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193159.00,,,,,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,193200.00,,,,,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=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.08 13.08 3.83 3.87 0 28222.18 06:00:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.02 13.86 3.83 3.86 0 19754.48 06:00:35 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193206.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.80 4.50 15.23 3.85 3.86 0 3613.86 06:00:37 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.04 13.08 3.83 3.87 0 28221.92 06:00:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193213.00,,,,,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,193214.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.16 13.86 3.83 3.86 0 19754.00 06:00:45 m : 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=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.39 15.23 3.84 3.85 0 3613.53 06:00:47 m : AshtechGps::processRecord() - $GPGGA,193217.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193218.00,,,,,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=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193220.00,,,,,0,00,,,M,,M,,*43 : 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,193221.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 3.82 13.08 3.83 3.87 0 28221.48 06:00:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.09 13.76 3.83 3.86 0 19753.72 06:00:55 m : 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=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.64 15.13 3.84 3.85 0 3613.06 06:00:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193227.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193228.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193230.00,,,,,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,193231.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193232.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.52 13.08 3.83 3.87 0 28221.21 06:01:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193233.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193234.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.52 13.76 3.83 3.86 0 19753.22 06:01:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193235.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193236.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.73 5.01 15.03 3.84 3.85 0 3612.72 06:01:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193237.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193238.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193239.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193240.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193241.00,,,,,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,193242.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 4.15 12.98 3.83 3.87 0 28220.73 06:01:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.34 13.76 3.83 3.86 0 19752.91 06:01:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.60 15.03 3.84 3.85 0 3612.21 06:01:17 m : AshtechGps::processRecord() - $GPGGA,193247.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193248.00,,,,,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,193249.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193251.00,,,,,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,193252.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 4.08 12.98 3.83 3.86 0 28220.42 06:01:23 m : 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=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 4.38 13.86 3.83 3.85 0 19752.47 06:01:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193255.00,,,,,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,193256.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.74 15.03 3.84 3.85 0 3611.88 06:01:27 m : AshtechGps::processRecord() - $GPGGA,193257.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193258.00,,,,,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,193259.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193301.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193302.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 3.75 12.98 3.83 3.86 0 28219.99 06:01:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.96 13.86 3.83 3.85 0 19752.18 06:01:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.94 15.13 3.84 3.85 0 3611.38 06:01:37 m : AshtechGps::processRecord() - $GPGGA,193307.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193308.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193309.00,,,,,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,193310.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193311.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193312.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 3.93 13.08 3.83 3.87 0 28219.66 06:01:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193314.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.24 13.86 3.82 3.85 0 19751.73 06:01:45 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193316.00,,,,,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: $c1q0 d- 30.73 4.57 15.13 3.84 3.85 0 3611.05 06:01:47 m : AshtechGps::processRecord() - $GPGGA,193317.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : AshtechGps::processRecord() - $GPGGA,193318.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193321.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.23 13.18 3.83 3.87 0 28219.24 06:01:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193323.00,,,,,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,193324.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.42 13.86 3.82 3.85 0 19751.44 06:01:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : BluefinBatt Reply: $c1q0 d- 30.73 4.70 15.13 3.84 3.85 0 3610.53 06:01:57 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : AshtechGps::processRecord() - $GPGGA,193328.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193330.00,,,,,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,193331.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 4.19 13.08 3.83 3.87 0 28218.96 06:02:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193334.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.38 13.86 3.83 3.85 0 19750.99 06:02:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193335.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193336.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.73 4.77 15.13 3.84 3.85 0 3610.20 06:02:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193337.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193338.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193339.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193340.00,,,,,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,193341.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193342.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.41 13.08 3.83 3.87 0 28218.53 06:02:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193343.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193344.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.56 13.86 3.83 3.85 0 19750.69 06:02:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193345.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193346.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.70 15.13 3.84 3.85 0 3609.70 06:02:17 m : AshtechGps::processRecord() - $GPGGA,193347.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.399793 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.399793 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.399793 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : DepthEnvelope -- Measured altitude 13.399793 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193348.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.399793 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.399793 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.399793 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193349.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193350.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.510790 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203413 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203413 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203413 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.203413 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,193351.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.203413 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203413 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.203413 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.008484 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193352.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.80 1.29 13.18 3.83 3.87 0 28218.22 06:02:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193353.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193354.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 1.43 13.86 3.83 3.86 0 19750.36 06:02:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193355.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193356.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 3.36 15.23 3.84 3.85 0 3609.49 06:02:27 m : AshtechGps::processRecord() - $GPGGA,193357.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193358.00,,,,,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,193359.00,,,,,0,00,,,M,,M,,*4C : 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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193400.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193401.00,,,,,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,193402.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 4.26 13.18 3.83 3.87 0 28217.94 06:02:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193403.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193404.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.67 13.86 3.83 3.86 0 19750.09 06:02:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193405.00,,,,,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,193406.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 30.76 4.74 15.23 3.84 3.85 0 3608.98 06:02:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193407.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193408.00,,,,,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,193409.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193410.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193411.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193412.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 4.23 13.18 3.83 3.86 0 28217.65 06:02:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193413.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193414.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.86 4.52 13.86 3.83 3.85 0 19749.62 06:02:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193415.00,,,,,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,193416.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.76 4.53 15.23 3.84 3.85 0 3608.64 06:02:47 m : AshtechGps::processRecord() - $GPGGA,193417.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193418.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193419.00,,,,,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,193420.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193421.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193422.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.12 13.18 3.83 3.86 0 28217.22 06:02:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193423.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193424.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.20 13.86 3.83 3.85 0 19749.34 06:02:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193425.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193426.00,,,,,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: $c1q0 d- 30.76 4.53 15.23 3.84 3.85 0 3608.17 06:02:57 m : AshtechGps::processRecord() - $GPGGA,193427.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193428.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193429.00,,,,,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,193430.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193431.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193432.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : BluefinBatt Reply: $aaq0 d- 30.60 3.82 13.18 3.83 3.86 0 28216.95 06:03:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193433.00,,,,,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,193434.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 3.98 13.86 3.83 3.85 0 19748.91 06:03:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193435.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193436.00,,,,,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: $c1q0 d- 30.76 4.39 15.23 3.84 3.85 0 3607.86 06:03:07 m : AshtechGps::processRecord() - $GPGGA,193437.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193438.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193439.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193440.00,,,,,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,193441.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193442.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 4.15 13.08 3.83 3.86 0 28216.58 06:03:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193443.00,,,,,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,193444.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.27 13.86 3.83 3.85 0 19748.59 06:03:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193445.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193446.00,,,,,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: $c1q0 d- 30.69 6.08 15.23 3.84 3.85 0 3607.40 06:03:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193447.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193448.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193449.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193450.00,,,,,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,193451.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193452.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.00 13.08 3.83 3.87 0 28216.31 06:03:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193453.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193454.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.09 13.76 3.83 3.85 0 19748.16 06:03:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193455.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193456.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.57 15.23 3.84 3.85 0 3607.09 06:03:27 m : AshtechGps::processRecord() - $GPGGA,193457.00,,,,,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 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193458.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193459.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193500.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193501.00,,,,,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,193502.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 3.63 12.98 3.83 3.87 0 28215.89 06:03:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193503.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193504.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.56 13.76 3.83 3.85 0 19747.88 06:03:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,193505.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193506.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 5.12 15.23 3.84 3.85 0 3606.62 06:03:37 m : AshtechGps::processRecord() - $GPGGA,193507.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193508.00,,,,,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,193509.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193510.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193511.00,,,,,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,193512.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 4.82 13.08 3.82 3.86 0 28215.60 06:03:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193513.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193514.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.74 13.76 3.82 3.85 0 19747.40 06:03:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193515.00,,,,,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,193516.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 5.01 15.13 3.83 3.85 0 3606.27 06:03:47 m : AshtechGps::processRecord() - $GPGGA,193517.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,193518.00,,,,,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,193519.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193520.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193521.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193522.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.19 12.98 3.82 3.86 0 28215.16 06:03:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193523.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193524.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.78 13.76 3.82 3.85 0 19747.06 06:03:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193525.00,,,,,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,193526.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.84 15.13 3.83 3.85 0 3605.75 06:03:57 m : AshtechGps::processRecord() - $GPGGA,193527.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,193528.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193529.00,,,,,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,193530.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193531.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193532.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.04 12.98 3.82 3.86 0 28214.87 06:04:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193533.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193534.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.75 5.85 13.86 3.82 3.85 0 19746.59 06:04:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193535.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193536.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.69 5.01 15.13 3.84 3.85 0 3605.41 06:04:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193537.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193538.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193539.00,,,,,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,193540.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193541.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193542.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 4.04 13.08 3.82 3.86 0 28214.44 06:04:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193543.00,,,,,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,193544.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.42 13.86 3.82 3.85 0 19746.30 06:04:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193545.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193546.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.73 4.67 15.13 3.84 3.85 0 3604.91 06:04:17 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193547.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193548.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193549.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193550.00,,,,,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,193551.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193552.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 3.97 13.08 3.83 3.86 0 28214.16 06:04:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193553.00,,,,,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,193554.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.42 13.86 3.83 3.85 0 19745.84 06:04:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193555.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193556.00,,,,,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: $c1q0 d- 30.73 4.94 15.23 3.84 3.85 0 3604.59 06:04:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193557.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193558.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193559.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193600.00,,,,,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,193601.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193602.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.15 13.08 3.83 3.86 0 28213.76 06:04:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193603.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193604.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.88 13.86 3.83 3.85 0 19745.55 06:04:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193605.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193606.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.81 15.13 3.84 3.85 0 3604.09 06:04:37 m : AshtechGps::processRecord() - $GPGGA,193607.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193608.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193609.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193610.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193611.00,,,,,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,193612.00,,,,,0,00,,,M,,M,,*46 : 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=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 4.26 13.18 3.82 3.86 0 28213.47 06:04:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193613.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193614.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.81 13.86 3.82 3.85 0 19745.09 06:04:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193615.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193616.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.87 15.13 3.84 3.85 0 3603.76 06:04:47 m : AshtechGps::processRecord() - $GPGGA,193617.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193618.00,,,,,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,193619.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193620.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.903920 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.900301 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193621.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.900301 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.900301 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.900301 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.900301 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.900301 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193622.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.900301 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.250456 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.72 2.74 13.18 3.82 3.86 0 28213.06 06:04:53 m : DepthEnvelope -- Measured altitude 14.250456 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.250456 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.250456 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193623.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.250456 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.250456 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.250456 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- altitude 15.956997 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193624.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.97 1.14 13.86 3.82 3.85 0 19744.78 06:04:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193625.00,,,,,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,193626.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 1.71 15.23 3.84 3.85 0 3603.37 06:04:57 m : AshtechGps::processRecord() - $GPGGA,193627.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193628.00,,,,,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,193629.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193630.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193631.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193632.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 3.78 13.18 3.83 3.87 0 28212.93 06:05:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193633.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193634.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.20 13.96 3.83 3.86 0 19744.44 06:05:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193635.00,,,,,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,193636.00,,,,,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=1.75 : BluefinBatt Reply: $c1q0 d- 30.73 4.94 15.23 3.85 3.86 0 3603.10 06:05:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193637.00,,,,,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=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193638.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193639.00,,,,,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,193640.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193641.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193642.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.26 13.18 3.83 3.87 0 28212.52 06:05:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193643.00,,,,,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=1.75 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193644.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.38 13.86 3.83 3.86 0 19744.13 06:05:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193645.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193646.00,,,,,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: $c1q0 d- 30.69 4.98 15.23 3.85 3.86 0 3602.61 06:05:17 m : AshtechGps::processRecord() - $GPGGA,193647.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,193648.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193649.00,,,,,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,193650.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193651.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193652.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.23 13.18 3.83 3.86 0 28212.23 06:05:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193653.00,,,,,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,193654.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.86 4.13 13.86 3.83 3.85 0 19743.70 06:05:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193655.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193656.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.76 4.53 15.13 3.84 3.85 0 3602.31 06:05:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193657.00,,,,,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=1.75 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193658.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193659.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193700.00,,,,,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,193701.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193702.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.68 3.85 13.18 3.83 3.86 0 28211.85 06:05:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193703.00,,,,,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,193704.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.09 13.86 3.83 3.85 0 19743.41 06:05:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193705.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193706.00,,,,,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: $c1q0 d- 30.69 4.70 15.23 3.84 3.85 0 3601.86 06:05:37 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193707.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,193708.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193709.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193710.00,,,,,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,193711.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193712.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 3.85 13.18 3.83 3.86 0 28211.59 06:05:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193713.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193714.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.09 13.86 3.83 3.85 0 19742.98 06:05:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193715.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,193716.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.76 4.60 15.23 3.84 3.85 0 3601.52 06:05:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193717.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193718.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193719.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193720.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193721.00,,,,,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,193722.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.68 3.78 13.08 3.83 3.86 0 28211.16 06:05:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193723.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 3.95 13.86 3.83 3.85 0 19742.70 06:05:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 4.60 15.13 3.84 3.85 0 3601.09 06:05:57 m : 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: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193728.00,,,,,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,193729.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.57 5.90 13.08 3.82 3.86 0 28210.92 06:06:03 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.24 13.86 3.83 3.85 0 19742.22 06:06:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193735.00,,,,,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,193736.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.73 4.70 15.23 3.84 3.85 0 3600.78 06:06:07 m : 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: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193741.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193742.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 4.15 13.18 3.82 3.86 0 28210.46 06:06:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 5.14 13.86 3.83 3.85 0 19741.89 06:06:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 5.08 15.13 3.84 3.85 0 3600.24 06:06:17 m : AshtechGps::processRecord() - $GPGGA,193747.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : AshtechGps::processRecord() - $GPGGA,193748.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193749.00,,,,,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,193750.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193751.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.64 13.08 3.82 3.86 0 28210.17 06:06:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.60 13.86 3.82 3.85 0 19741.41 06:06:25 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193756.00,,,,,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: $c1q0 d- 30.69 5.15 15.13 3.84 3.85 0 3599.91 06:06:27 m : AshtechGps::processRecord() - $GPGGA,193757.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193758.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193801.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.30 13.08 3.82 3.86 0 28209.74 06:06:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193803.00,,,,,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,193804.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.49 13.86 3.82 3.85 0 19741.10 06:06:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.87 15.23 3.84 3.85 0 3599.41 06:06:37 m : AshtechGps::processRecord() - $GPGGA,193807.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193808.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193810.00,,,,,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,193811.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.34 13.08 3.82 3.86 0 28209.45 06:06:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.49 13.86 3.82 3.85 0 19740.64 06:06:45 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.62 6.35 15.23 3.84 3.85 0 3599.10 06:06:47 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193817.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193818.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.12 13.18 3.82 3.86 0 28209.03 06:06:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193824.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.42 13.86 3.82 3.85 0 19740.32 06:06:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.91 15.23 3.84 3.85 0 3598.58 06:06:57 m : AshtechGps::processRecord() - $GPGGA,193827.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193828.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193831.00,,,,,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,193832.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 4.19 13.18 3.82 3.86 0 28208.75 06:07:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.38 13.86 3.82 3.85 0 19739.87 06:07:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.77 15.23 3.84 3.85 0 3598.24 06:07:07 m : AshtechGps::processRecord() - $GPGGA,193837.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193838.00,,,,,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,193839.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193841.00,,,,,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,193842.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 4.78 13.18 3.82 3.86 0 28208.32 06:07:13 m : resetting depth trajectory : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.67 13.86 3.82 3.85 0 19739.56 06:07:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193845.00,,,,,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,193846.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.74 15.23 3.84 3.85 0 3597.76 06:07:17 m : AshtechGps::processRecord() - $GPGGA,193847.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193848.00,,,,,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,193849.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.646795 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193850.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.646795 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.646795 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.646795 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.646795 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.646795 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193851.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.646795 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.304453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.304453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.304453 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.304453 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,193852.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.304453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.304453 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.68 3.04 13.08 3.82 3.86 0 28208.04 06:07:23 m : DepthEnvelope -- Measured altitude 13.304453 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193853.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,193854.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.671029 under allowable altitude 15.000000. Stopping! : Isus::select() timeout : DepthEnvelope -- altitude 16.326502 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $c0q0 d- 30.97 1.14 13.96 3.82 3.85 0 19739.17 06:07:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.87 1.47 15.13 3.84 3.85 0 3597.52 06:07:27 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193859.00,,,,,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,193900.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,193901.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 3.59 13.18 3.82 3.86 0 28207.87 06:07:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.52 13.96 3.82 3.85 0 19739.02 06:07:35 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193906.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.69 5.22 15.23 3.84 3.85 0 3597.17 06:07:37 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.26 13.18 3.82 3.86 0 28207.57 06:07:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193913.00,,,,,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,193914.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.60 13.86 3.82 3.85 0 19738.53 06:07:45 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.69 5.01 15.33 3.84 3.85 0 3596.82 06:07:47 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193920.00,,,,,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,193921.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.68 3.63 13.18 3.82 3.86 0 28207.11 06:07:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.06 13.96 3.82 3.85 0 19738.23 06:07:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.64 15.13 3.84 3.85 0 3596.34 06:07:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,193927.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193928.00,,,,,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=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 3.85 13.18 3.83 3.86 0 28206.85 06:08:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193934.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.75 5.67 13.86 3.82 3.85 0 19737.80 06:08:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.67 15.23 3.84 3.85 0 3596.01 06:08:07 m : AshtechGps::processRecord() - $GPGGA,193937.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : AshtechGps::processRecord() - $GPGGA,193938.00,,,,,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=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193941.00,,,,,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,193942.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 3.56 13.18 3.83 3.86 0 28206.47 06:08:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.86 3.95 13.86 3.82 3.85 0 19737.52 06:08:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.57 15.23 3.84 3.85 0 3595.55 06:08:17 m : AshtechGps::processRecord() - $GPGGA,193947.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193948.00,,,,,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,193949.00,,,,,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=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 3.97 13.18 3.83 3.86 0 28206.20 06:08:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.24 13.86 3.82 3.85 0 19737.06 06:08:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,193955.00,,,,,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,193956.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.53 15.23 3.83 3.85 0 3595.25 06:08:27 m : AshtechGps::processRecord() - $GPGGA,193957.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,193958.00,,,,,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,193959.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194002.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 3.71 13.18 3.83 3.86 0 28205.82 06:08:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.70 13.86 3.82 3.85 0 19736.76 06:08:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.67 15.13 3.83 3.85 0 3594.78 06:08:37 m : AshtechGps::processRecord() - $GPGGA,194007.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,194008.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194009.00,,,,,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,194010.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.34 13.08 3.82 3.86 0 28205.54 06:08:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.52 13.86 3.82 3.85 0 19736.30 06:08:45 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194016.00,,,,,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: $c1q0 d- 30.69 4.98 15.13 3.83 3.85 0 3594.39 06:08:47 m : AshtechGps::processRecord() - $GPGGA,194017.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194018.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194021.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.12 13.08 3.82 3.86 0 28205.12 06:08:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194023.00,,,,,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,194024.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.42 13.86 3.82 3.85 0 19735.99 06:08:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.65 4.94 15.23 3.83 3.85 0 3593.88 06:08:57 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194030.00,,,,,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,194031.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.37 12.98 3.82 3.85 0 28204.85 06:09:03 m : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.56 13.86 3.82 3.85 0 19735.52 06:09:05 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.69 4.64 15.13 3.83 3.85 0 3593.54 06:09:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194037.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.23 12.98 3.82 3.85 0 28204.42 06:09:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194044.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.38 13.86 3.82 3.85 0 19735.17 06:09:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.98 15.23 3.83 3.85 0 3593.04 06:09:17 m : AshtechGps::processRecord() - $GPGGA,194047.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194048.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194051.00,,,,,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,194052.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 3.93 13.18 3.82 3.86 0 28204.15 06:09:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.60 13.86 3.82 3.85 0 19734.71 06:09:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.73 4.94 15.13 3.84 3.85 0 3592.71 06:09:27 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194058.00,,,,,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,194059.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 4.12 13.18 3.82 3.86 0 28203.71 06:09:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.34 13.96 3.82 3.85 0 19734.40 06:09:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194105.00,,,,,0,00,,,M,,M,,*40 : 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,194106.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.98 15.13 3.84 3.85 0 3592.21 06:09:37 m : AshtechGps::processRecord() - $GPGGA,194107.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,194108.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,194109.00,,,,,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=1.75 : 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=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194111.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194112.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 4.19 13.18 3.82 3.86 0 28203.43 06:09:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.49 13.86 3.82 3.85 0 19733.94 06:09:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.81 15.23 3.83 3.85 0 3591.87 06:09:47 m : AshtechGps::processRecord() - $GPGGA,194117.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.966651 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 14.966651 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : DepthEnvelope -- Measured altitude 14.966651 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194118.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.966651 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.966651 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.966651 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.966651 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- altitude 16.200761 over abort altitude 15.000000, starting prop! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194119.00,,,,,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,194120.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : 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=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.72 2.11 13.08 3.82 3.86 0 28203.08 06:09:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 3.52 13.96 3.82 3.85 0 19733.67 06:09:55 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194126.00,,,,,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: $c1q0 d- 30.69 4.43 15.23 3.83 3.85 0 3591.44 06:09:57 m : AshtechGps::processRecord() - $GPGGA,194127.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : 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=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.00 13.18 3.82 3.86 0 28202.83 06:10:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194133.00,,,,,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,194134.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.16 13.96 3.82 3.85 0 19733.24 06:10:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.64 15.23 3.84 3.85 0 3591.11 06:10:07 m : AshtechGps::processRecord() - $GPGGA,194137.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : Isus::select() timeout : 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=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194140.00,,,,,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,194141.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 3.71 13.18 3.82 3.86 0 28202.44 06:10:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.82 4.34 13.86 3.82 3.85 0 19732.96 06:10:15 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.29 15.23 3.84 3.85 0 3590.65 06:10:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194147.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,194148.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 3.78 13.18 3.83 3.86 0 28202.19 06:10:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194154.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 3.88 13.86 3.82 3.85 0 19732.54 06:10:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.73 4.60 15.23 3.84 3.85 0 3590.34 06:10:27 m : AshtechGps::processRecord() - $GPGGA,194157.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : AshtechGps::processRecord() - $GPGGA,194158.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194201.00,,,,,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,194202.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 3.75 13.18 3.83 3.86 0 28201.74 06:10:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 3.84 13.86 3.82 3.85 0 19732.26 06:10:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 4.43 15.23 3.84 3.85 0 3589.83 06:10:37 m : 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: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.830000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194208.00,,,,,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,194209.00,,,,,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=1.75 : 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: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 3.71 13.08 3.82 3.86 0 28201.48 06:10:43 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 3.84 13.86 3.82 3.85 0 19731.84 06:10:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194215.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : resetting depth trajectory : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194216.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.43 15.23 3.84 3.85 0 3589.53 06:10:47 m : AshtechGps::processRecord() - $GPGGA,194217.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : AshtechGps::processRecord() - $GPGGA,194218.00,,,,,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,194219.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194222.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 3.82 13.18 3.82 3.86 0 28201.10 06:10:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.52 13.86 3.82 3.85 0 19731.56 06:10:55 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.65 4.87 15.13 3.84 3.85 0 3589.03 06:10:57 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.826667 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194229.00,,,,,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,194230.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194231.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.37 12.98 3.82 3.86 0 28200.80 06:11:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.63 13.76 3.82 3.85 0 19731.09 06:11:05 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194236.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.69 5.22 15.13 3.83 3.85 0 3588.69 06:11:07 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194241.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.23 12.98 3.82 3.86 0 28200.35 06:11:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194243.00,,,,,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,194244.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.67 13.86 3.82 3.85 0 19730.77 06:11:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 5.01 15.03 3.83 3.85 0 3588.18 06:11:17 m : AshtechGps::processRecord() - $GPGGA,194247.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194248.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194250.00,,,,,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,194251.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.12 13.08 3.82 3.86 0 28200.06 06:11:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.74 13.86 3.82 3.85 0 19730.31 06:11:25 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.98 15.13 3.83 3.85 0 3587.83 06:11:27 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194257.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194258.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194301.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.34 13.18 3.82 3.86 0 28199.61 06:11:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194304.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.78 4.67 13.86 3.82 3.85 0 19729.99 06:11:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 5.22 15.23 3.83 3.85 0 3587.32 06:11:37 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194308.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194311.00,,,,,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,194312.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 4.19 13.08 3.82 3.86 0 28199.28 06:11:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.78 13.86 3.82 3.85 0 19729.52 06:11:45 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 5.12 15.23 3.83 3.85 0 3586.97 06:11:47 m : AshtechGps::processRecord() - $GPGGA,194317.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194318.00,,,,,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,194319.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 3.89 13.08 3.82 3.86 0 28198.86 06:11:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.38 13.86 3.82 3.85 0 19729.20 06:11:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194325.00,,,,,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,194326.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.62 5.73 15.23 3.83 3.85 0 3586.47 06:11:57 m : 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: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : resetting depth trajectory : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194331.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194332.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 4.23 13.08 3.82 3.86 0 28198.59 06:12:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.38 13.86 3.82 3.85 0 19728.74 06:12:05 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 4.70 15.23 3.83 3.85 0 3586.13 06:12:07 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : DepthEnvelope -- Measured altitude 13.609406 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.609406 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194338.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.609406 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.609406 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.609406 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.609406 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.609406 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194339.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194340.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 13.358366 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.828438 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.828438 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194341.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.828438 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.828438 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.828438 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.828438 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.828438 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194342.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.582762 over abort altitude 15.000000, starting prop! : BluefinBatt Reply: $aaq0 d- 30.76 0.89 13.08 3.82 3.86 0 28198.26 06:12:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.94 1.21 13.96 3.82 3.85 0 19728.53 06:12:15 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194346.00,,,,,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: $c1q0 d- 30.80 2.71 15.23 3.83 3.85 0 3585.86 06:12:17 m : AshtechGps::processRecord() - $GPGGA,194347.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194348.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,194349.00,,,,,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,194350.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194351.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.19 13.18 3.83 3.86 0 28198.11 06:12:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194353.00,,,,,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,194354.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.71 5.32 13.86 3.83 3.85 0 19728.21 06:12:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 5.32 15.23 3.84 3.85 0 3585.54 06:12:27 m : AshtechGps::processRecord() - $GPGGA,194357.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : AshtechGps::processRecord() - $GPGGA,194358.00,,,,,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=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194400.00,,,,,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,194401.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.04 13.08 3.83 3.86 0 28197.69 06:12:33 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.45 13.96 3.83 3.85 0 19727.90 06:12:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.65 4.94 15.23 3.84 3.85 0 3585.04 06:12:37 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194407.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.833333 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 3.71 13.18 3.82 3.86 0 28197.42 06:12:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194414.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 4.13 13.86 3.82 3.85 0 19727.47 06:12:45 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.77 15.13 3.83 3.85 0 3584.74 06:12:47 m : AshtechGps::processRecord() - $GPGGA,194417.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194418.00,,,,,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=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194421.00,,,,,0,00,,,M,,M,,*43 : 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,194422.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 3.67 13.18 3.82 3.86 0 28197.03 06:12:53 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 3.98 13.86 3.82 3.85 0 19727.20 06:12:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.65 4.32 15.23 3.83 3.85 0 3584.28 06:12:57 m : 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: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194428.00,,,,,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,194429.00,,,,,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=1.75 : 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=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 3.85 13.08 3.82 3.86 0 28196.77 06:13:03 m : 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=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.06 13.86 3.82 3.85 0 19726.76 06:13:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194435.00,,,,,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,194436.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.50 15.23 3.83 3.85 0 3583.96 06:13:07 m : 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=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194438.00,,,,,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,194439.00,,,,,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=1.75 : 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=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,194441.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194442.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 3.63 13.08 3.82 3.86 0 28196.38 06:13:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.27 13.86 3.82 3.85 0 19726.48 06:13:15 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.73 4.57 15.13 3.83 3.85 0 3583.50 06:13:17 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194449.00,,,,,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,194450.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.34 12.98 3.82 3.85 0 28196.11 06:13:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.63 13.76 3.82 3.85 0 19726.03 06:13:25 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194456.00,,,,,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: $c1q0 d- 30.65 5.42 15.13 3.83 3.85 0 3583.12 06:13:27 m : AshtechGps::processRecord() - $GPGGA,194457.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194458.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194501.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.15 12.98 3.82 3.85 0 28195.66 06:13:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194503.00,,,,,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,194504.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.42 13.76 3.82 3.85 0 19725.72 06:13:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.94 15.13 3.83 3.85 0 3582.55 06:13:37 m : AshtechGps::processRecord() - $GPGGA,194507.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194508.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194510.00,,,,,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,194511.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.04 12.98 3.82 3.86 0 28195.38 06:13:43 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.38 13.86 3.82 3.85 0 19725.24 06:13:45 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.65 4.98 15.13 3.83 3.85 0 3582.23 06:13:47 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194517.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194521.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.15 12.98 3.82 3.86 0 28194.91 06:13:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194524.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.78 4.31 13.86 3.82 3.85 0 19724.94 06:13:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.94 15.23 3.83 3.85 0 3581.72 06:13:57 m : AshtechGps::processRecord() - $GPGGA,194527.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194528.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194531.00,,,,,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,194532.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.57 4.23 12.98 3.82 3.86 0 28194.61 06:14:03 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.42 13.86 3.82 3.85 0 19724.50 06:14:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 4.84 15.13 3.83 3.85 0 3581.37 06:14:07 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194538.00,,,,,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,194539.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194541.00,,,,,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,194542.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 4.26 13.18 3.82 3.86 0 28194.21 06:14:13 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.56 13.86 3.82 3.85 0 19724.16 06:14:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194545.00,,,,,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,194546.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 5.18 15.23 3.83 3.85 0 3580.86 06:14:17 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194548.00,,,,,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,194549.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194551.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194552.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.60 4.00 13.08 3.82 3.86 0 28193.92 06:14:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : resetting depth trajectory : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.70 13.86 3.82 3.85 0 19723.70 06:14:25 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.77 15.13 3.83 3.85 0 3580.53 06:14:27 m : 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=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194558.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194559.00,,,,,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,194600.00,,,,,0,00,,,M,,M,,*42 : 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=1.75 : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194601.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194602.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.363227 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.847166 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.60 4.26 13.08 3.82 3.86 0 28193.50 06:14:33 m : DepthEnvelope -- Measured altitude 12.847166 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.847166 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.847166 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194603.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.847166 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.847166 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.847166 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.772418 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.772418 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194604.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.772418 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.772418 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.772418 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.90 1.25 13.86 3.82 3.85 0 19723.40 06:14:35 m : DepthEnvelope -- Measured altitude 14.772418 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.772418 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194605.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- altitude 16.729947 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194606.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.80 1.61 15.23 3.83 3.85 0 3580.16 06:14:37 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194611.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 3.67 13.08 3.83 3.87 0 28193.41 06:14:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194613.00,,,,,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,194614.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.31 13.86 3.83 3.86 0 19723.18 06:14:45 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.84 15.13 3.85 3.86 0 3579.91 06:14:47 m : AshtechGps::processRecord() - $GPGGA,194617.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,194618.00,,,,,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=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194620.00,,,,,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,194621.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.30 13.08 3.83 3.87 0 28193.00 06:14:53 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.42 13.86 3.83 3.86 0 19722.84 06:14:55 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.81 15.13 3.85 3.86 0 3579.41 06:14:57 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194627.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.830000, mean min cell voltage 3.836667 : AshtechGps::processRecord() - $GPGGA,194628.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.04 13.08 3.82 3.86 0 28192.70 06:15:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,194633.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194634.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.82 3.98 13.86 3.82 3.85 0 19722.41 06:15:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.94 15.23 3.83 3.85 0 3579.09 06:15:07 m : AshtechGps::processRecord() - $GPGGA,194637.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194638.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194641.00,,,,,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,194642.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.64 3.52 12.98 3.82 3.86 0 28192.31 06:15:13 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.09 13.86 3.82 3.85 0 19722.13 06:15:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 4.43 15.23 3.83 3.85 0 3578.63 06:15:17 m : 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: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194648.00,,,,,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,194649.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 3.75 12.98 3.82 3.86 0 28192.06 06:15:23 m : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.27 13.86 3.82 3.85 0 19721.73 06:15:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194655.00,,,,,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,194656.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.74 15.13 3.83 3.85 0 3578.32 06:15:27 m : AshtechGps::processRecord() - $GPGGA,194657.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194658.00,,,,,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,194659.00,,,,,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=1.75 : 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=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194702.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.64 3.89 12.98 3.82 3.86 0 28191.66 06:15:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : resetting depth trajectory : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 3.95 13.76 3.82 3.85 0 19721.44 06:15:35 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.69 4.26 15.23 3.83 3.85 0 3577.86 06:15:37 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194709.00,,,,,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,194710.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.34 12.98 3.82 3.86 0 28191.39 06:15:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.75 4.67 13.76 3.82 3.85 0 19721.02 06:15:45 m : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194716.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c1q0 d- 30.65 5.05 15.03 3.83 3.85 0 3577.49 06:15:47 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.26 12.98 3.82 3.86 0 28190.97 06:15:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194723.00,,,,,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,194724.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.74 13.76 3.82 3.85 0 19720.68 06:15:55 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.65 4.94 15.13 3.83 3.85 0 3576.97 06:15:57 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194730.00,,,,,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,194731.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.57 4.12 12.89 3.82 3.85 0 28190.68 06:16:03 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 5.46 13.86 3.82 3.85 0 19720.20 06:16:05 m : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.64 15.13 3.83 3.85 0 3576.62 06:16:07 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194737.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194738.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : Isus::select() timeout : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194741.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 3.93 12.98 3.82 3.85 0 28190.27 06:16:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194744.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.78 4.52 13.86 3.82 3.85 0 19719.90 06:16:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c1q0 d- 30.65 5.46 15.03 3.83 3.85 0 3576.14 06:16:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194751.00,,,,,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,194752.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 3.89 12.89 3.82 3.85 0 28189.98 06:16:23 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.45 13.86 3.82 3.84 0 19719.45 06:16:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 5.12 15.13 3.83 3.84 0 3575.82 06:16:27 m : AshtechGps::processRecord() - $GPGGA,194757.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194758.00,,,,,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,194759.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194801.00,,,,,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,194802.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.57 3.97 12.98 3.82 3.85 0 28189.56 06:16:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.75 4.49 13.86 3.82 3.84 0 19719.13 06:16:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194805.00,,,,,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,194806.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $c1q0 d- 30.65 4.94 15.03 3.83 3.84 0 3575.28 06:16:37 m : 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: , : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194812.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.57 4.19 13.08 3.82 3.85 0 28189.28 06:16:43 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=70.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 4.42 13.86 3.82 3.85 0 19718.68 06:16:45 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : resetting depth trajectory : AshtechGps::processRecord() - $GPGGA,194815.00,,,,,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,194816.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.62 4.94 15.23 3.83 3.85 0 3574.91 06:16:47 m : AshtechGps::processRecord() - $GPGGA,194817.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194818.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194819.00,,,,,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,194820.00,,,,,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=1.75 : DepthEnvelope -- Measured altitude 14.957018 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.957018 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194821.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.957018 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.957018 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.957018 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.957018 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.957018 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194822.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.856811 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.856811 under allowable altitude 15.000000. Stopping! : BluefinBatt Reply: $aaq0 d- 30.60 3.67 13.08 3.82 3.85 0 28188.87 06:16:53 m : DepthEnvelope -- Measured altitude 12.856811 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 12.856811 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 12.856811 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194823.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 12.856811 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude 12.856811 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194824.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.94 1.07 13.86 3.82 3.85 0 19718.37 06:16:55 m : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 13.030552 under allowable altitude 15.000000. Stopping! : AshtechGps::processRecord() - $GPGGA,194825.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.866957 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.866957 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.866957 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.866957 under allowable altitude 15.000000. Stopping! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : DepthEnvelope -- Measured altitude 14.866957 under allowable altitude 15.000000. Stopping! : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194826.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude 14.866957 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- Measured altitude 14.866957 under allowable altitude 15.000000. Stopping! : DepthEnvelope -- altitude 16.387249 over abort altitude 15.000000, starting prop! : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 1.68 15.23 3.83 3.85 0 3574.54 06:16:57 m : AshtechGps::processRecord() - $GPGGA,194827.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194828.00,,,,,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=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 3.22 13.08 3.84 3.87 0 28188.80 06:17:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194833.00,,,,,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,194834.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.16 13.86 3.84 3.87 0 19718.18 06:17:05 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 5.05 15.23 3.85 3.86 0 3574.34 06:17:07 m : AshtechGps::processRecord() - $GPGGA,194837.00,,,,,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=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,194838.00,,,,,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=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194840.00,,,,,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,194841.00,,,,,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=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.60 4.00 13.18 3.84 3.87 0 28188.39 06:17:13 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,194844.00,,,,,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=1.75 : BluefinBatt Reply: $c0q0 d- 30.78 4.63 13.86 3.84 3.87 0 19717.87 06:17:15 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.60 15.23 3.85 3.86 0 3573.82 06:17:17 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194847.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,194848.00,,,,,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=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $aaq0 d- 30.64 4.00 13.18 3.82 3.85 0 28188.11 06:17:23 m : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194854.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.78 3.98 13.86 3.82 3.85 0 19717.42 06:17:25 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.53 15.13 3.83 3.85 0 3573.51 06:17:27 m : AshtechGps::processRecord() - $GPGGA,194857.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194858.00,,,,,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=1.75 : 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=6.27 speedMode=1 speed=1.75 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194901.00,,,,,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,194902.00,,,,,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=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 3.63 12.98 3.82 3.85 0 28187.72 06:17:33 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.82 4.06 13.76 3.82 3.85 0 19717.14 06:17:35 m : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : 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=6.27 speedMode=1 speed=1.75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.65 4.43 15.23 3.83 3.85 0 3573.06 06:17:37 m : AshtechGps::processRecord() - $GPGGA,194907.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194908.00,,,,,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,194909.00,,,,,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=1.75 : 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=6.27 speedMode=1 speed=1.75 : 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: , : 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: , : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : BluefinBatt Reply: $aaq0 d- 30.60 3.82 12.98 3.82 3.86 0 28187.46 06:17:43 m : 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=6.27 speedMode=1 speed=1.75 : 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: , : BluefinBatt Reply: $c0q0 d- 30.78 3.84 13.86 3.82 3.85 0 19716.73 06:17:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=3 vert=2.00 horzlMode=3 horz=6.27 speedMode=1 speed=1.75 : AshtechGps::processRecord() - $GPGGA,194915.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Abort request issued by behavior "missionTimer" : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 16560.395535) Behavior setpoint:-1 has changed to state Active : LayeredControl - setpoint BehaviorStarted:-1 msg to VcsServer : LayeredControl::execute() -- (t = 16560.395535) Behavior missionTimer:-1 has changed to state Active : LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.69 4.22 15.03 3.83 3.85 0 3572.74 06:17:47 m : AshtechGps::processRecord() - $GPGGA,194917.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194918.00,,,,,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,194919.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194920.00,,,,,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,194921.00,,,,,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,194922.00,,,,,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: $aaq0 d- 30.76 0.89 12.98 3.82 3.86 0 28187.14 06:17:53 m : 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: , : 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,194924.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 1.94 13.76 3.82 3.85 0 19716.55 06:17:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194925.00,,,,,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,194926.00,,,,,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 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 1.37 15.13 3.83 3.85 0 3572.43 06:17:57 m : AshtechGps::processRecord() - $GPGGA,194927.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.820000, mean min cell voltage 3.823333 : AshtechGps::processRecord() - $GPGGA,194928.00,,,,,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,194929.00,,,,,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,194930.00,,,,,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,194931.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194932.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.76 0.74 12.98 3.84 3.87 0 28187.09 06:18:03 m : 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: , : 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,194934.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $c0q0 d- 30.94 1.07 13.67 3.84 3.87 0 19716.44 06:18:05 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,194935.00,,,,,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,194936.00,,,,,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: $c1q0 d- 30.84 1.85 15.03 3.85 3.86 0 3572.28 06:18:07 m : 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: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : 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: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194939.00,,,,,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,194940.00,,,,,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 : 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=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,194942.00,,,,,0,01,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.98 3.84 3.87 0 28187.01 06:18:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194943.00,,,,,0,01,,,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,194944.00,,,,,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 : BluefinBatt Reply: $c0q0 d- 30.94 0.96 13.67 3.84 3.87 0 19716.37 06:18:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194945.00,,,,,0,01,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194946.00,,,,,0,01,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 1.37 15.03 3.85 3.86 0 3572.12 06:18:17 m : AshtechGps::processRecord() - $GPGGA,194947.00,,,,,0,01,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,194948.00,3650.90876,N,12154.95793,W,1,08,1.0,-1.79,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,194949.00,3650.90851,N,12154.95768,W,1,04,1.7,0.77,M,-32.59,M,,*57 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194950.00,3650.90859,N,12154.95795,W,1,04,1.7,-0.23,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,194951.00,3650.90876,N,12154.95852,W,1,08,1.0,-3.19,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,194952.00,3650.90880,N,12154.95882,W,1,08,1.0,-3.15,M,-32.59,M,,*7B : BluefinBatt Reply: $aaq0 d- 30.76 0.81 12.89 3.84 3.88 0 28186.96 06:18:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194953.00,3650.90884,N,12154.95928,W,1,08,1.0,-3.23,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194954.00,3650.90907,N,12154.95999,W,1,08,1.0,-4.57,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.94 1.32 13.67 3.84 3.87 0 19716.27 06:18:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,194955.00,3650.90893,N,12154.96002,W,1,08,1.0,-4.33,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,194956.00,3650.90871,N,12154.95994,W,1,08,1.0,-4.38,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 1.40 14.94 3.85 3.87 0 3572.02 06:18:27 m : AshtechGps::processRecord() - $GPGGA,194957.00,3650.90868,N,12154.95989,W,1,08,1.0,-4.24,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,194958.00,3650.90878,N,12154.95976,W,1,08,1.0,-4.92,M,-32.59,M,,*74 : 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,194959.00,3650.90877,N,12154.96010,W,1,08,1.0,-5.31,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195000.00,3650.90872,N,12154.96055,W,1,08,1.0,-5.00,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195001.00,3650.90872,N,12154.96082,W,1,08,1.0,-4.28,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,195002.00,3650.90863,N,12154.96067,W,1,08,1.0,-4.06,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.98 3.84 3.88 0 28186.88 06:18:33 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,195003.00,3650.90859,N,12154.96065,W,1,08,1.0,-3.95,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195004.00,3650.90860,N,12154.96052,W,1,08,1.0,-4.19,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19716.19 06:18:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195005.00,3650.90868,N,12154.96069,W,1,08,1.0,-4.66,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,195006.00,3650.90866,N,12154.96097,W,1,08,1.0,-4.99,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 1.37 15.03 3.85 3.87 0 3571.87 06:18:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195007.00,3650.90868,N,12154.96142,W,1,08,1.0,-4.63,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,195008.00,3650.90866,N,12154.96151,W,1,08,1.0,-4.24,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,195009.00,3650.90862,N,12154.96132,W,1,08,1.0,-4.04,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,195010.00,3650.90856,N,12154.96117,W,1,08,1.0,-4.42,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195011.00,3650.90843,N,12154.96113,W,1,08,1.0,-5.11,M,-32.59,M,,*7B : 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,195012.00,3650.90834,N,12154.96135,W,1,08,1.0,-5.22,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 30.76 0.70 12.98 3.84 3.87 0 28186.82 06:18:43 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,195013.00,3650.90832,N,12154.96156,W,1,08,1.0,-5.29,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195014.00,3650.90834,N,12154.96171,W,1,08,1.0,-5.13,M,-32.59,M,,*78 : BluefinBatt Reply: $c0q0 d- 30.97 1.03 13.67 3.84 3.87 0 19716.09 06:18:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195015.00,3650.90836,N,12154.96191,W,1,08,1.0,-4.77,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,195016.00,3650.90837,N,12154.96197,W,1,08,1.0,-4.54,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 1.33 14.94 3.85 3.87 0 3571.77 06:18:47 m : AshtechGps::processRecord() - $GPGGA,195017.00,3650.90837,N,12154.96200,W,1,08,1.0,-4.05,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : AshtechGps::processRecord() - $GPGGA,195018.00,3650.90832,N,12154.96167,W,1,08,1.0,-3.93,M,-32.59,M,,*7B : 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,195019.00,3650.90831,N,12154.96170,W,1,08,1.0,-4.34,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,195020.00,3650.90836,N,12154.96162,W,1,08,1.0,-4.40,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195021.00,3650.90842,N,12154.96175,W,1,08,1.0,-4.63,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195022.00,3650.90841,N,12154.96186,W,1,08,1.0,-4.90,M,-32.59,M,,*7D : Isus::select() timeout : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 0.85 12.89 3.84 3.87 0 28186.72 06:18:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195023.00,3650.90833,N,12154.96204,W,1,08,1.0,-4.96,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,195024.00,3650.90833,N,12154.96199,W,1,08,1.0,-4.84,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 30.97 1.21 13.67 3.84 3.87 0 19716.02 06:18:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195025.00,3650.90841,N,12154.96193,W,1,08,1.0,-4.96,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,195026.00,3650.90841,N,12154.96223,W,1,08,1.0,-5.01,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 : BluefinBatt Reply: $c1q0 d- 30.84 1.51 14.94 3.85 3.87 0 3571.63 06:18:57 m : AshtechGps::processRecord() - $GPGGA,195027.00,3650.90836,N,12154.96242,W,1,08,1.0,-4.78,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.843333 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195028.00,3650.90826,N,12154.96244,W,1,08,1.0,-4.46,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195029.00,3650.90817,N,12154.96205,W,1,08,1.0,-3.96,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,195030.00,3650.90808,N,12154.96186,W,1,08,1.0,-4.29,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195031.00,3650.90816,N,12154.96212,W,1,08,1.0,-4.54,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195032.00,3650.90823,N,12154.96230,W,1,08,1.0,-4.38,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 0.77 12.79 3.84 3.88 0 28186.66 06:19:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195033.00,3650.90829,N,12154.96241,W,1,08,1.0,-4.29,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,195034.00,3650.90836,N,12154.96232,W,1,08,1.0,-4.26,M,-32.59,M,,*7B : BluefinBatt Reply: $c0q0 d- 30.94 1.07 13.67 3.84 3.87 0 19715.85 06:19:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195035.00,3650.90840,N,12154.96229,W,1,08,1.0,-4.32,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195036.00,3650.90845,N,12154.96225,W,1,08,1.0,-3.98,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.84 1.47 14.94 3.86 3.87 0 3571.52 06:19:07 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195037.00,3650.90842,N,12154.96237,W,1,08,1.0,-3.80,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195038.00,3650.90862,N,12154.96268,W,1,06,1.3,-3.71,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195039.00,3650.90857,N,12154.96269,W,1,06,1.3,-3.84,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,195040.00,3650.90858,N,12154.96252,W,1,08,1.0,-4.20,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,195041.00,3650.90855,N,12154.96230,W,1,08,1.0,-4.79,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195042.00,3650.90869,N,12154.96263,W,1,08,1.0,-4.56,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.76 0.77 12.98 3.84 3.88 0 28186.56 06:19:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195043.00,3650.90855,N,12154.96268,W,1,08,1.0,-4.25,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195044.00,3650.90842,N,12154.96281,W,1,08,1.0,-3.98,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 30.94 1.11 13.67 3.84 3.87 0 19715.77 06:19:15 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,195045.00,3650.90842,N,12154.96247,W,1,08,1.0,-3.70,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195046.00,3650.90842,N,12154.96227,W,1,08,1.0,-3.77,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: $c1q0 d- 30.84 1.54 14.94 3.86 3.87 0 3571.38 06:19:17 m : AshtechGps::processRecord() - $GPGGA,195047.00,3650.90844,N,12154.96213,W,1,08,1.0,-4.10,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195048.00,3650.90842,N,12154.96221,W,1,08,1.0,-4.56,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195049.00,3650.90846,N,12154.96252,W,1,08,1.0,-4.68,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195050.00,3650.90859,N,12154.96263,W,1,08,1.0,-4.04,M,-32.59,M,,*74 : 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,195051.00,3650.90863,N,12154.96247,W,1,08,1.0,-3.27,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,195052.00,3650.90868,N,12154.96200,W,1,08,1.0,-3.28,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.98 3.84 3.88 0 28186.51 06:19:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195053.00,3650.90860,N,12154.96189,W,1,08,1.0,-3.80,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195054.00,3650.90862,N,12154.96197,W,1,08,1.0,-4.31,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.11 13.67 3.84 3.87 0 19715.66 06:19:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,195055.00,3650.90873,N,12154.96223,W,1,08,1.0,-4.36,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195056.00,3650.90877,N,12154.96235,W,1,08,1.0,-4.24,M,-32.59,M,,*7F : BluefinBatt Reply: $c1q0 d- 30.87 1.33 14.94 3.86 3.87 0 3571.29 06:19:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195057.00,3650.90874,N,12154.96231,W,1,08,1.0,-4.10,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195058.00,3650.90866,N,12154.96251,W,1,08,1.0,-4.11,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,195059.00,3650.90874,N,12154.96236,W,1,08,1.0,-3.83,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195100.00,3650.90868,N,12154.96225,W,1,08,1.0,-3.65,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,195101.00,3650.90877,N,12154.96192,W,1,08,1.0,-3.90,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,195102.00,3650.90868,N,12154.96206,W,1,08,1.0,-4.52,M,-32.59,M,,*70 : BluefinBatt Reply: $aaq0 d- 30.80 0.70 12.98 3.84 3.88 0 28186.42 06:19:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195103.00,3650.90874,N,12154.96222,W,1,08,1.0,-4.49,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195104.00,3650.90875,N,12154.96243,W,1,08,1.0,-4.31,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.90 2.40 13.67 3.84 3.87 0 19715.59 06:19:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195105.00,3650.90877,N,12154.96236,W,1,08,1.0,-3.84,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,195106.00,3650.90884,N,12154.96213,W,1,08,1.0,-3.66,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 1.44 14.94 3.86 3.87 0 3571.10 06:19:37 m : AshtechGps::processRecord() - $GPGGA,195107.00,3650.90883,N,12154.96203,W,1,08,1.0,-3.84,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195108.00,3650.90895,N,12154.96194,W,1,08,1.0,-4.24,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195109.00,3650.90894,N,12154.96219,W,1,08,1.0,-4.52,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195110.00,3650.90906,N,12154.96226,W,1,08,1.0,-4.29,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195111.00,3650.90902,N,12154.96230,W,1,08,1.0,-3.93,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,195112.00,3650.90912,N,12154.96198,W,1,08,1.0,-3.73,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 30.80 0.89 12.89 3.84 3.88 0 28186.37 06:19:43 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,195113.00,3650.90908,N,12154.96191,W,1,08,1.0,-4.00,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195114.00,3650.90917,N,12154.96183,W,1,08,1.0,-4.34,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19715.48 06:19:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195115.00,3650.90920,N,12154.96210,W,1,08,1.0,-4.52,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,195116.00,3650.90924,N,12154.96213,W,1,08,1.0,-4.13,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 1.44 14.94 3.86 3.87 0 3570.99 06:19:47 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195117.00,3650.90922,N,12154.96190,W,1,08,1.0,-4.01,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195118.00,3650.90918,N,12154.96182,W,1,08,1.0,-4.26,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195119.00,3650.90925,N,12154.96189,W,1,08,1.0,-4.56,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195120.00,3650.90921,N,12154.96211,W,1,08,1.0,-4.49,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195121.00,3650.90928,N,12154.96208,W,1,08,1.0,-4.13,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,195122.00,3650.90925,N,12154.96197,W,1,08,1.0,-3.98,M,-32.59,M,,*70 : BluefinBatt Reply: $aaq0 d- 30.80 0.70 12.98 3.84 3.88 0 28186.29 06:19:53 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,195123.00,3650.90926,N,12154.96186,W,1,08,1.0,-3.94,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195124.00,3650.90935,N,12154.96180,W,1,08,1.0,-3.98,M,-32.59,M,,*71 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19715.40 06:19:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195125.00,3650.90945,N,12154.96181,W,1,08,1.0,-3.98,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,195126.00,3650.90962,N,12154.96174,W,1,08,1.0,-3.98,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 : BluefinBatt Reply: $c1q0 d- 30.87 1.37 14.84 3.86 3.87 0 3570.85 06:19:57 m : AshtechGps::processRecord() - $GPGGA,195127.00,3650.90954,N,12154.96184,W,1,08,1.0,-4.08,M,-32.59,M,,*7F : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195128.00,3650.90967,N,12154.96168,W,1,08,1.0,-4.08,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195129.00,3650.90966,N,12154.96157,W,1,08,1.0,-4.28,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,195130.00,3650.90971,N,12154.96162,W,1,09,0.9,-4.61,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195131.00,3650.90976,N,12154.96173,W,1,09,0.9,-4.44,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195132.00,3650.90974,N,12154.96182,W,1,09,0.9,-4.48,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 0.70 12.79 3.84 3.88 0 28186.24 06:20:03 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195133.00,3650.90977,N,12154.96190,W,1,09,0.9,-4.21,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,195134.00,3650.90976,N,12154.96175,W,1,09,0.9,-3.77,M,-32.59,M,,*75 : BluefinBatt Reply: $c0q0 d- 30.97 1.11 13.67 3.84 3.87 0 19715.30 06:20:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195135.00,3650.90986,N,12154.96143,W,1,10,0.9,-4.21,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195136.00,3650.90981,N,12154.96139,W,1,10,0.9,-4.36,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 : BluefinBatt Reply: $c1q0 d- 30.87 1.37 14.94 3.86 3.87 0 3570.76 06:20:07 m : AshtechGps::processRecord() - $GPGGA,195137.00,3650.90990,N,12154.96144,W,1,10,0.9,-4.10,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195138.00,3650.90996,N,12154.96132,W,1,10,0.9,-3.95,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195139.00,3650.90986,N,12154.96119,W,1,10,0.9,-4.00,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195140.00,3650.90998,N,12154.96124,W,1,10,0.9,-4.08,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,195141.00,3650.91020,N,12154.96144,W,1,10,0.9,-4.01,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195142.00,3650.90977,N,12154.96127,W,1,07,1.6,-4.15,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.98 3.84 3.88 0 28186.17 06:20:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195143.00,3650.91025,N,12154.96134,W,1,10,0.9,-4.31,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195144.00,3650.91033,N,12154.96143,W,1,10,0.9,-4.00,M,-32.59,M,,*71 : BluefinBatt Reply: $c0q0 d- 30.97 0.96 13.57 3.84 3.87 0 19715.23 06:20:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195145.00,3650.91040,N,12154.96124,W,1,10,0.9,-3.39,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195146.00,3650.91048,N,12154.96076,W,1,10,0.9,-3.50,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: $c1q0 d- 30.84 1.44 14.84 3.86 3.87 0 3570.61 06:20:17 m : AshtechGps::processRecord() - $GPGGA,195147.00,3650.91037,N,12154.96062,W,1,10,0.9,-4.03,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195148.00,3650.91040,N,12154.96069,W,1,09,1.1,-4.43,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195149.00,3650.91046,N,12154.96097,W,1,10,0.9,-4.71,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,195150.00,3650.91051,N,12154.96119,W,1,10,0.9,-4.27,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,195151.00,3650.91062,N,12154.96105,W,1,10,0.9,-3.92,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195152.00,3650.91057,N,12154.96085,W,1,10,0.9,-3.76,M,-32.59,M,,*79 : BluefinBatt Reply: $aaq0 d- 30.80 0.89 12.79 3.84 3.88 0 28186.10 06:20:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195153.00,3650.91070,N,12154.96054,W,1,10,0.9,-3.33,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,195154.00,3650.91059,N,12154.96054,W,1,10,0.9,-3.74,M,-32.59,M,,*7F : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19715.08 06:20:25 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,195155.00,3650.91098,N,12154.96025,W,1,09,1.3,-5.47,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195156.00,3650.91065,N,12154.96057,W,1,10,0.9,-3.38,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 2.57 14.94 3.86 3.87 0 3570.52 06:20:27 m : AshtechGps::processRecord() - $GPGGA,195157.00,3650.91082,N,12154.96050,W,1,10,0.9,-3.69,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195158.00,3650.91093,N,12154.96058,W,1,10,0.9,-3.33,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195159.00,3650.91101,N,12154.96062,W,1,10,0.9,-2.91,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195200.00,3650.91167,N,12154.95990,W,1,08,1.3,-4.95,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195201.00,3650.91127,N,12154.96015,W,1,10,0.9,-3.06,M,-32.59,M,,*74 : 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,195202.00,3650.91135,N,12154.96003,W,1,10,0.9,-3.89,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.89 3.84 3.88 0 28186.02 06:20:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195203.00,3650.91142,N,12154.96026,W,1,10,0.9,-4.34,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195204.00,3650.91144,N,12154.96050,W,1,10,0.9,-4.11,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.07 13.67 3.84 3.87 0 19715.00 06:20:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195205.00,3650.91145,N,12154.96063,W,1,10,0.9,-4.28,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195206.00,3650.91145,N,12154.96056,W,1,10,0.9,-4.19,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 1.40 14.84 3.86 3.87 0 3570.38 06:20:37 m : AshtechGps::processRecord() - $GPGGA,195207.00,3650.91151,N,12154.96038,W,1,10,0.9,-3.73,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195208.00,3650.91148,N,12154.96010,W,1,10,0.9,-3.61,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,195209.00,3650.91156,N,12154.95983,W,1,10,0.9,-3.67,M,-32.59,M,,*78 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195210.00,3650.91151,N,12154.95953,W,1,10,0.9,-4.05,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,195211.00,3650.91142,N,12154.95942,W,1,10,0.9,-4.69,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,195212.00,3650.91155,N,12154.95966,W,1,10,0.9,-4.96,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.79 3.84 3.88 0 28185.96 06:20:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195213.00,3650.91160,N,12154.95992,W,1,10,0.9,-4.70,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195214.00,3650.91176,N,12154.96015,W,1,10,0.9,-4.36,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19714.87 06:20:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195215.00,3650.91192,N,12154.96012,W,1,10,0.9,-3.49,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195216.00,3650.91206,N,12154.95969,W,1,10,0.9,-3.08,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.80 1.54 14.94 3.86 3.87 0 3570.25 06:20:47 m : AshtechGps::processRecord() - $GPGGA,195217.00,3650.91197,N,12154.95912,W,1,10,0.9,-2.97,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195218.00,3650.91208,N,12154.95863,W,1,10,0.9,-3.50,M,-32.59,M,,*7B : 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,195219.00,3650.91208,N,12154.95849,W,1,10,0.9,-4.62,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195220.00,3650.91217,N,12154.95885,W,1,10,0.9,-5.22,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195221.00,3650.91222,N,12154.95927,W,1,10,0.9,-5.16,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,195222.00,3650.91233,N,12154.95951,W,1,10,0.9,-4.46,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 30.76 0.77 12.79 3.84 3.88 0 28185.88 06:20:53 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,195223.00,3650.91241,N,12154.95938,W,1,10,0.9,-3.89,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195224.00,3650.91239,N,12154.95916,W,1,10,0.9,-3.88,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.03 13.67 3.84 3.87 0 19714.79 06:20:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195225.00,3650.91240,N,12154.95896,W,1,10,0.9,-3.81,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,195226.00,3650.91234,N,12154.95871,W,1,10,0.9,-3.73,M,-32.59,M,,*7B : BluefinBatt Reply: $c1q0 d- 30.87 1.54 14.94 3.86 3.87 0 3570.09 06:20:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195227.00,3650.91245,N,12154.95850,W,1,10,0.9,-3.80,M,-32.59,M,,*73 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195228.00,3650.91253,N,12154.95833,W,1,10,0.9,-3.68,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,195229.00,3650.91269,N,12154.95823,W,1,10,0.9,-4.23,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,195230.00,3650.91274,N,12154.95841,W,1,10,0.9,-4.46,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195231.00,3650.91289,N,12154.95856,W,1,10,0.9,-4.33,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,195232.00,3650.91291,N,12154.95858,W,1,10,0.9,-4.25,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 30.76 0.85 12.98 3.84 3.88 0 28185.83 06:21:03 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,195233.00,3650.91301,N,12154.95853,W,1,10,0.9,-3.78,M,-32.59,M,,*73 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195234.00,3650.91298,N,12154.95823,W,1,10,0.9,-3.69,M,-32.59,M,,*72 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19714.69 06:21:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195235.00,3650.91308,N,12154.95798,W,1,10,0.9,-3.89,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,195236.00,3650.91315,N,12154.95788,W,1,10,0.9,-3.94,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 : BluefinBatt Reply: $c1q0 d- 30.84 1.33 14.84 3.86 3.87 0 3570.00 06:21:07 m : AshtechGps::processRecord() - $GPGGA,195237.00,3650.91325,N,12154.95777,W,1,10,0.9,-4.01,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195238.00,3650.91336,N,12154.95779,W,1,10,0.9,-4.43,M,-32.59,M,,*74 : 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,195239.00,3650.91343,N,12154.95799,W,1,10,0.9,-4.47,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,195240.00,3650.91353,N,12154.95811,W,1,10,0.9,-4.33,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195241.00,3650.91338,N,12154.95793,W,1,10,0.9,-3.17,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195242.00,3650.91353,N,12154.95783,W,1,10,0.9,-3.47,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 0.77 12.98 3.84 3.88 0 28185.75 06:21:13 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195243.00,3650.91344,N,12154.95766,W,1,10,0.9,-3.01,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195244.00,3650.91370,N,12154.95746,W,1,10,0.9,-3.49,M,-32.59,M,,*7C : BluefinBatt Reply: $c0q0 d- 30.97 1.25 13.67 3.84 3.87 0 19714.62 06:21:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195245.00,3650.91363,N,12154.95739,W,1,10,0.9,-4.02,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,195246.00,3650.91369,N,12154.95752,W,1,10,0.9,-3.54,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 1.33 14.84 3.86 3.87 0 3569.85 06:21:17 m : AshtechGps::processRecord() - $GPGGA,195247.00,3650.91376,N,12154.95736,W,1,10,0.9,-3.19,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195248.00,3650.91382,N,12154.95697,W,1,10,0.9,-3.71,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195249.00,3650.91394,N,12154.95702,W,1,08,1.0,-2.80,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,195250.00,3650.91409,N,12154.95703,W,1,10,0.9,-3.77,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,195251.00,3650.91428,N,12154.95717,W,1,10,0.9,-3.64,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195252.00,3650.91431,N,12154.95725,W,1,10,0.9,-2.95,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.80 0.74 12.89 3.84 3.88 0 28185.70 06:21:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195253.00,3650.91424,N,12154.95691,W,1,10,0.9,-3.58,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,195254.00,3650.91435,N,12154.95707,W,1,08,1.0,-2.79,M,-32.59,M,,*7D : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19714.51 06:21:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195255.00,3650.91444,N,12154.95692,W,1,10,0.9,-3.83,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195256.00,3650.91461,N,12154.95681,W,1,10,0.9,-3.34,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c1q0 d- 30.80 1.71 14.94 3.86 3.87 0 3569.75 06:21:27 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195257.00,3650.91458,N,12154.95660,W,1,10,0.9,-3.90,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195258.00,3650.91465,N,12154.95670,W,1,10,0.9,-3.38,M,-32.59,M,,*70 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195259.00,3650.91460,N,12154.95669,W,1,10,0.9,-3.26,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195300.00,3650.91462,N,12154.95658,W,1,10,0.9,-3.69,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,195301.00,3650.91481,N,12154.95662,W,1,10,0.9,-3.50,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195302.00,3650.91489,N,12154.95671,W,1,10,0.9,-3.89,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 30.68 1.74 12.89 3.84 3.88 0 28185.63 06:21:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195303.00,3650.91497,N,12154.95678,W,1,10,0.9,-3.68,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,195304.00,3650.91492,N,12154.95653,W,1,10,0.9,-2.96,M,-32.59,M,,*74 : BluefinBatt Reply: $c0q0 d- 30.97 1.07 13.67 3.84 3.87 0 19714.44 06:21:35 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,195305.00,3650.91509,N,12154.95627,W,1,10,0.9,-3.35,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,195306.00,3650.91519,N,12154.95619,W,1,10,0.9,-3.05,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 1.40 14.84 3.86 3.87 0 3569.61 06:21:37 m : AshtechGps::processRecord() - $GPGGA,195307.00,3650.91533,N,12154.95619,W,1,10,0.9,-3.11,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195308.00,3650.91542,N,12154.95620,W,1,10,0.9,-2.94,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195309.00,3650.91554,N,12154.95599,W,1,10,0.9,-3.61,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195310.00,3650.91559,N,12154.95591,W,1,10,0.9,-3.64,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,195311.00,3650.91566,N,12154.95603,W,1,10,0.9,-3.92,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,195312.00,3650.91567,N,12154.95617,W,1,10,0.9,-3.92,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 30.76 0.70 12.98 3.85 3.88 0 28185.53 06:21:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195313.00,3650.91583,N,12154.95630,W,1,10,0.9,-3.54,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,195314.00,3650.91590,N,12154.95623,W,1,10,0.9,-3.29,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.94 1.29 13.67 3.84 3.87 0 19714.32 06:21:45 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195315.00,3650.91597,N,12154.95603,W,1,10,0.9,-2.89,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195316.00,3650.91597,N,12154.95559,W,1,10,0.9,-3.05,M,-32.59,M,,*71 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 1.33 14.94 3.86 3.87 0 3569.52 06:21:47 m : AshtechGps::processRecord() - $GPGGA,195317.00,3650.91619,N,12154.95565,W,1,10,0.9,-2.89,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,195318.00,3650.91613,N,12154.95548,W,1,10,0.9,-3.56,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,195319.00,3650.91615,N,12154.95553,W,1,10,0.9,-3.01,M,-32.59,M,,*79 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195320.00,3650.91637,N,12154.95562,W,1,10,0.9,-2.79,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,195321.00,3650.91651,N,12154.95528,W,1,10,0.9,-3.19,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,195322.00,3650.91653,N,12154.95547,W,1,10,0.9,-3.56,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 30.76 1.00 12.89 3.85 3.88 0 28185.45 06:21:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195323.00,3650.91660,N,12154.95581,W,1,10,0.9,-3.03,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195324.00,3650.91671,N,12154.95577,W,1,10,0.9,-2.45,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- 30.97 1.32 13.67 3.84 3.87 0 19714.25 06:21:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195325.00,3650.91690,N,12154.95533,W,1,10,0.9,-2.26,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,195326.00,3650.91684,N,12154.95473,W,1,10,0.9,-2.53,M,-32.59,M,,*78 : BluefinBatt Reply: $c1q0 d- 30.87 1.33 14.84 3.86 3.87 0 3569.38 06:21:57 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195327.00,3650.91688,N,12154.95466,W,1,10,0.9,-2.77,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195328.00,3650.91724,N,12154.95488,W,1,10,0.9,-3.57,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,195329.00,3650.91715,N,12154.95492,W,1,10,0.9,-3.73,M,-32.59,M,,*72 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195330.00,3650.91753,N,12154.95505,W,1,10,0.9,-3.96,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195331.00,3650.91733,N,12154.95507,W,1,10,0.9,-3.49,M,-32.59,M,,*7B : 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,195332.00,3650.91735,N,12154.95484,W,1,10,0.9,-3.28,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.80 0.81 12.98 3.84 3.88 0 28185.39 06:22:03 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,195333.00,3650.91746,N,12154.95470,W,1,10,0.9,-3.75,M,-32.59,M,,*75 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195334.00,3650.91752,N,12154.95468,W,1,10,0.9,-3.45,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19714.13 06:22:05 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195335.00,3650.91762,N,12154.95439,W,1,10,0.9,-4.03,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,195336.00,3650.91758,N,12154.95444,W,1,10,0.9,-4.01,M,-32.59,M,,*7C : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.87 1.68 14.84 3.86 3.87 0 3569.28 06:22:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195337.00,3650.91778,N,12154.95457,W,1,10,0.9,-3.50,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : AshtechGps::processRecord() - $GPGGA,195338.00,3650.91773,N,12154.95438,W,1,10,0.9,-3.55,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 : Isus::select() timeout : AshtechGps::processRecord() - $GPGGA,195339.00,3650.91785,N,12154.95417,W,1,10,0.9,-3.64,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195340.00,3650.91790,N,12154.95423,W,1,10,0.9,-3.80,M,-32.59,M,,*76 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195341.00,3650.91812,N,12154.95424,W,1,10,0.9,-3.95,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195342.00,3650.91809,N,12154.95423,W,1,10,0.9,-3.22,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.76 0.77 12.79 3.84 3.88 0 28185.31 06:22:13 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,195343.00,3650.91818,N,12154.95401,W,1,10,0.9,-3.14,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195344.00,3650.91827,N,12154.95384,W,1,10,0.9,-3.52,M,-32.59,M,,*74 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19714.06 06:22:15 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195345.00,3650.91835,N,12154.95391,W,1,10,0.9,-3.68,M,-32.59,M,,*7B : 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,195346.00,3650.91843,N,12154.95409,W,1,10,0.9,-3.95,M,-32.59,M,,*7D : BluefinBatt Reply: $c1q0 d- 30.87 1.37 14.84 3.86 3.87 0 3569.12 06:22:17 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,195347.00,3650.91833,N,12154.95407,W,1,10,0.9,-3.79,M,-32.59,M,,*77 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.846667 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195348.00,3650.91846,N,12154.95396,W,1,10,0.9,-2.83,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195349.00,3650.91842,N,12154.95377,W,1,10,0.9,-2.74,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195350.00,3650.91854,N,12154.95345,W,1,10,0.9,-3.20,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195351.00,3650.91867,N,12154.95354,W,1,10,0.9,-3.88,M,-32.59,M,,*7E : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195352.00,3650.91863,N,12154.95359,W,1,10,0.9,-3.65,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.98 3.85 3.88 0 28185.25 06:22:23 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195353.00,3650.91887,N,12154.95378,W,1,10,0.9,-3.25,M,-32.59,M,,*7B : 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,195354.00,3650.91877,N,12154.95368,W,1,10,0.9,-2.94,M,-32.59,M,,*79 : BluefinBatt Reply: $c0q0 d- 30.97 1.18 13.67 3.84 3.87 0 19713.96 06:22:25 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195355.00,3650.91897,N,12154.95337,W,1,10,0.9,-2.50,M,-32.59,M,,*74 : 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,195356.00,3650.91896,N,12154.95301,W,1,10,0.9,-2.79,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 : BluefinBatt Reply: $c1q0 d- 30.87 1.33 14.94 3.86 3.87 0 3569.02 06:22:27 m : AshtechGps::processRecord() - $GPGGA,195357.00,3650.91914,N,12154.95271,W,1,10,0.9,-3.23,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195358.00,3650.91905,N,12154.95267,W,1,10,0.9,-4.22,M,-32.59,M,,*74 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195359.00,3650.91930,N,12154.95313,W,1,10,0.9,-3.68,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,195400.00,3650.91926,N,12154.95315,W,1,10,0.9,-3.06,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,195401.00,3650.91935,N,12154.95301,W,1,10,0.9,-3.10,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195402.00,3650.91939,N,12154.95275,W,1,10,0.9,-2.82,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 0.70 12.89 3.85 3.88 0 28185.15 06:22:33 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195403.00,3650.91940,N,12154.95256,W,1,10,0.9,-3.14,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,195404.00,3650.91952,N,12154.95222,W,1,10,0.9,-3.59,M,-32.59,M,,*72 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.84 3.87 0 19713.88 06:22:35 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195405.00,3650.91949,N,12154.95227,W,1,10,0.9,-3.39,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195406.00,3650.91973,N,12154.95233,W,1,10,0.9,-3.80,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 1.40 14.84 3.86 3.87 0 3568.87 06:22:37 m : AshtechGps::processRecord() - $GPGGA,195407.00,3650.91968,N,12154.95249,W,1,10,0.9,-3.38,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,195408.00,3650.91978,N,12154.95236,W,1,10,0.9,-3.72,M,-32.59,M,,*7A : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195409.00,3650.91979,N,12154.95244,W,1,10,0.9,-3.64,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,195410.00,3650.91991,N,12154.95238,W,1,10,0.9,-3.35,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,195411.00,3650.91996,N,12154.95236,W,1,10,0.9,-3.17,M,-32.59,M,,*71 : Isus::select() timeout : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195412.00,3650.92019,N,12154.95219,W,1,10,0.9,-2.83,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 30.68 2.26 12.89 3.84 3.88 0 28185.10 06:22:43 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195413.00,3650.92014,N,12154.95187,W,1,10,0.9,-3.28,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,195414.00,3650.92023,N,12154.95169,W,1,10,0.9,-3.25,M,-32.59,M,,*78 : BluefinBatt Reply: $c0q0 d- 30.97 1.07 13.67 3.85 3.87 0 19713.77 06:22:45 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,195415.00,3650.92011,N,12154.95151,W,1,10,0.9,-3.56,M,-32.59,M,,*77 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195416.00,3650.92029,N,12154.95178,W,1,10,0.9,-4.11,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : BluefinBatt Reply: $c1q0 d- 30.84 1.40 14.84 3.86 3.87 0 3568.77 06:22:47 m : AshtechGps::processRecord() - $GPGGA,195417.00,3650.92049,N,12154.95216,W,1,10,0.9,-3.57,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 : batts online 3, min cell voltage 3.840000, mean min cell voltage 3.850000 : AshtechGps::processRecord() - $GPGGA,195418.00,3650.92044,N,12154.95203,W,1,10,0.9,-3.44,M,-32.59,M,,*7D : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195419.00,3650.92056,N,12154.95184,W,1,10,0.9,-3.59,M,-32.59,M,,*7F : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195420.00,3650.92048,N,12154.95156,W,1,10,0.9,-3.59,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,195421.00,3650.92073,N,12154.95151,W,1,10,0.9,-4.05,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,195422.00,3650.92075,N,12154.95169,W,1,10,0.9,-3.86,M,-32.59,M,,*77 : BluefinBatt Reply: $aaq0 d- 30.80 0.77 12.89 3.84 3.88 0 28185.00 06:22:53 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195423.00,3650.92080,N,12154.95180,W,1,10,0.9,-3.94,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,195424.00,3650.92075,N,12154.95166,W,1,10,0.9,-3.15,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $c0q0 d- 30.97 1.00 13.67 3.85 3.87 0 19713.70 06:22:55 m : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : AshtechGps::processRecord() - $GPGGA,195425.00,3650.92080,N,12154.95155,W,1,10,0.9,-3.11,M,-32.59,M,,*7B : StatePublisher: Updating state vector : StatePublisher: sent 275 bytes to AMC, errno = 4 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195426.00,3650.92083,N,12154.95138,W,1,10,0.9,-3.13,M,-32.59,M,,*72 : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2 //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00041810. //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/statePublisher terminated (SIGSEGV) at 0007:00015F37. : Supervisor::shutdown() - done() : 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 ctdDriver - exit() on signal 2 : TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 2 : TaskServer::signalHandler() for task IsusIFServer - exit() on signal 2 : Isus:stopping Isus... : Lisst:stopping Lisst... : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : Fan Destructor Executing. : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : GulperDestructor Executing. : TaskServer::signalHandler() for task ClusterIFServer - exit() on signal 2 : **** SharedData destructor for object BluefinBattOutput **** : 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 **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GulperOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2 : Cluster - destroying the main class. : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object cluster.plume **** : **** SharedData destructor for object GulperOutput **** : TaskServer::signalHandler() for task AhrsIFServer - exit() : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName **** : **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName **** : **** SharedData destructor for object IsusOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object cluster.plume **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task ctdDriver - exit() on signal 18 : 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 : **** SharedData destructor for object HydroscatOutput_ShmemName **** //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/cluster terminated (SIGSEGV) at 0007:00030427. : SerialDevice: done... : **** SharedData destructor for object HydroscatOutput_ShmemName **** //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/hydroscat terminated (SIGSEGV) at 0007:00021197. //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/lisst terminated (SIGSEGV) at 0007:0001BE8D. : Isus:stopped - response 06/26/2008 19:54:22,15.75,8.28,0.000336 ACK,DeployDataStop  : **** SharedData destructor for object IsusOutput_ShmemName **** : 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 : Dvl::~Dvl: Destructor Finished. //9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : StepGetStat (2) failed to read chars, rcvd=2, want=8 : StepGetStat (2) 5d 5d 00 00 01 00 00 : Isus::getIsusConfig(): response is ACK,GetConfiguration : Isus::getIsusConfig(): ACK,GetConfiguration : StepGetStat (2) failed to read chars, rcvd=2, want=8 : StepGetStat (2) 18 18 00 00 01 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : 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 , 9 : Isus::getIsusConfig(): 8.12% // Fiberlite Odometer , 285:27:43 // Calibration Date , 06/18/20 : Isus::getIsusConfig(): 08 // 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 0007:0001F281.