got joystick
Power: -1
Power: -5
Steer: 22
GPGGA,095451.200,4046.019316,N,11913.681274,W,1,12,0.71,1181.005,M,-20.833,M,,*61



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,23,07,59,312,32,10,49,064,36,30,46,204,43*73



$GPGSV,3,2,12,21,36,258,39,05,33,189,35,12,23,175,40,02,18,063,40*74



$GPGSV,3,3,12,29,10,120,38,31,07,281,30,16,06,325,30,18,05,202,38*74



$GPRMC,095451.200,A,4046.019316,N,11913.681274,W,0.000,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.000,N,0.000,K,A*3F



$GPGGA,095451.400,4046.019316,N,11913.681275,W,1,12,0.71,1181.006,M,-20.833,M,,*65



$GPRMC,095451.400,A,4046.019316,N,11913.681275,W,0.001,272.36,040707,,,A*4D



$GPVTG,272.36,T,,M,0.001,N,0.002,K,A*3C



$GPGGA,095451.600,4046.019317,N,11913.681276,W,1,12,0.71,1181.007,M,-20.833,M,,*64



$GPRMC,095451.600,A,4046.019317,N,11913.681276,W,0.001,272.36,040707,,,A*4D



$GPVTG,272.36,T,,M,0.001,N,0.002,K,A*3C



$GPGGA,095451.800,4046.019318,N,11913.681278,W,1,12,0.71,1181.008,M,-20.833,M,,*64



$GPRMC,095451.800,A,4046.019318,N,11913.681278,W,0.001,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.001,N,0.002,K,A*3C



$GPGGA,095452.000,4046.019319,N,11913.681281,W,1,11,0.72,1181.009,M,-20.833,M,,*69



$GPRMC,095452.000,A,4046.019319,N,11913.681281,W,0.002,272.36,040707,,,A*4D



$GPVTG,272.36,T,,M,0.002,N,0.003,K,A*3E



$GPGGA,095452.200,4046.019319,N,11913.681284,W,1,11,0.72,1181.009,M,-20.833,M,,*6E



$GPGSA,A,,,10,31,02,21,30,07,12,29,05,18,16,,1.32,0.72,1.11*03



$GPGSV,3,1,12,24,72,293,23,07,59,312,32,10,49,064,36,30,46,204,43*73



$GPGSV,3,2,12,21,36,258,39,05,33,189,34,12,23,175,40,02,18,063,40*75



$GPGSV,3,3,12,29,10,120,38,31,07,281,29,16,06,325,30,18,05,202,38*7C



$GPRMC,095452.200,A,4046.019319,N,11913.681284,W,0.002,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.002,N,0.003,K,A*3E



$GPGGA,095452.400,4046.019320,N,11913.681285,W,1,12,0.71,1181.009,M,-20.833,M,,*63



$GPRMC,095452.400,A,4046.019320,N,11913.681285,W,0.000,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.000,N,0.001,K,A*3E



$GPGGA,095452.600,4046.019321,N,11913.681285,W,1,12,0.71,1181.011,M,-20.833,M,,*69



$GPRMC,095452.600,A,4046.019321,N,11913.681285,W,0.001,272.36,040707,,,A*47



$GPVTG,272.36,T,,M,0.001,N,0.002,K,A*3C



$GPGGA,095452.800,4046.019321,N,11913.681285,W,1,11,0.72,1181.012,M,-20.833,M,,*64



$GPRMC,095452.800,A,4046.019321,N,11913.681285,W,0.000,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.000,N,0.001,K,A*3E



$GPGGA,095453.000,4046.019321,N,11913.681286,W,1,11,0.72,1181.014,M,-20.833,M,,*68



$GPRMC,095453.000,A,4046.019321,N,11913.681286,W,0.001,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.001,N,0.001,K,A*3F



$GPGGA,095453.200,4046.019321,N,11913.681287,W,1,11,0.72,1181.016,M,-20.833,M,,*69



$GPGSA,A,3,10,31,02,21,30,07,12,29,05,18,16,,1.33,0.72,1.11*02



$GPGSV,3,1,12,24,72,293,23,07,59,312,32,10,49,064,36,30,46,204,43*73



$GPGSV,3,2,12,21,36,258,39,05,33,189,34,12,23,175,40,02,18,063,40*75



$GPGSV,3,3,12,29,10,120,38,31,07,281,29,16,06,325,30,18,05,202,38*7C



$GPRMC,095453.200,A,4046.019321,N,11913.681287,W,0.001,272.36,040707,,,A*40



$GPVTG,272.36,T,,M,0.001,N,0.003,K,A*3D



$GPGGA,095453.400,4046.019322,N,11913.681288,W,1,12,0.71,1181.016,M,-20.833,M,,*63



$GPRMC,095453.400,A,4046.019322,N,11913.681288,W,0.001,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.001,N,0.002,K,A*3C



Set_PWM:  -00001 Reverse



$GPGGA,095453.600,4046
Power: -10
Steer: 49
.019323,N,11913.681290,W,1,12,0.71,1181.016,M,-20.833,M,,*69



$GPRMC,095453.600,A,4046.019323,N,11913.681290,W,0.001,272.36,040707,,,A*40



$GPVTG,272.36,T,,M,0.001,N,0.003,K,A*3Set_PWM:  -00005 Reverse



SteD



er:  +00022



Motor1:  +00000 +00000 +00012  PID: +00008 +00010 +00004  ISav: +00000

  encod
Power: -12
Power: -17
Steer: 4
erSpeed: +00000

  currentSense: -00010  Velocity



Steer: target current +00022 +00006 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



Set_PWM:  -00010 Reverse



Steer:  +00049



Motor1:  +00000 +00000 +00025  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00013  Velocit$GPGGA,095453.80y



Steer: target current +00049 +000,4046.019323,N,11913.681291,W,1,12,009 Gain: Kp Kd Ki  +00015 +00000 +0.71,1181.018,M,-20.833,M,,*68



$GPRM00001

 mindr maxdr maxa dead:  +000C,095453.800,A,4046.019323,N,11913.6830 +00200 +00255 +00010



1291,W,0.001,272.36,040707,,,A*4F


Power: -25
Steer: -5


$GPVTG,272.36,T,,M,0.001,N,0.003,K,A*3D



Set_PWM:  -00017 Reverse



Steer:  +00004



Motor1:  +00000 +00000 +00043  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00033  Velocit
Steer: -27
$GPGGA,095454y



Steer: target current +00004 +00.000,4046.019323,N,11913.681293,W,1,028 Gain: Kp Kd Ki  +00015 +00000 +12,0.71,1181.019,M,-20.833,M,,*64



$G00001

 mindr maxdr maxa dead:  +000PRMC,095454.000,A,4046.019323,N,1191330 +00200 +00255 +00010



.681293,W,0.002,272.36,040707,,,A
Steer: -60
*41



$GPVTG,272.36,T,,M,0.002,N,0.003,K,A*3E



Steer:  -00027



Motor1:  +00000 +00000 +00043  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00022  Velocity



Steer: target current -
Steer: -92
maxdr maxa de93,W,1,12,0.71,1181.018,M,-20.833,M,,ad:  +00030 +00200 +00255 +00010



*66



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,25,07,59,312,32,10,49,064,36,30,4
Power: -22
Steer: -100
6,204,42*74



$GPGSV,3,2,12,21,36,258,39,05,33,189,34,12,23,175,40,02,18,063,40*75



$GPGSV,3,3,12,29,10,120,38,31,07,281,29,16,06,325,29,18,05,202,37*7B



$GPRMC,095454.200,A,4046.019322,N,11913.681293,W,0.003,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.003,N,0.005,K,A*39



$GPGGA,095454.400,4046.0
Power: -19
Power: -9
Power: 0
Power: 16
Power: 24
Steer: -58
19322,N,11913.681294,W,1,12,0.71,1181.019,M,-20.833,M,,*66



$GPRMC,095454.400,A,4046.019322,N,11913.681294,W,0.003,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.003,N,0.006,K,Set_PWM:  -00022 Reverse



A*3A



Steer:  -00100



Motor1:  +00000 +00000 +00056  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00011  Velocity



Steer: target current -00100 -00018 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095454.600,4046.019322,N,11913.681295,W,1,12,0.71,1181.020,M,-20.833,M,,*6F



$GPRMC,095454.600,A,4046.019322,N,11913.681295,W,0.001,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.001,N,0.003,K,A*3DSet_PWM:  -00009 Reverse







Set_PWM:  +00000 Fwd



$GPGGA,095454.800,4046.019321,N,11913.681295,W,1,12,0.71,1181.020,M,-20.833,M,,*62



$GPRMC,095454.800,A,4046.019321,N,11913.681295,W,0.000,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.000,N,0.001,K,A*3ESet_PWM:  +00016 Fwd








Power: 25
Steer: -3
Set_PWM:  +00024 Fwd



Steer:  -00058



Motor1:  +00000 +00000 +00061  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00083  V
Steer: 33
$GPGGA,095elocity



Steer: target current -000455.000,4046.019321,N,11913.681296,W,58 -00088 Gain: Kp Kd Ki  +00015 +01,12,0.71,1181.020,M,-20.833,M,,*68

0000 +00001

 mindr maxdr maxa dead:

$GPRMC,095455.000,A,4046.019321,N,11  +00030 +00200 +00255 +00010



913.681296,W,0.004,272.36,040707,,,A*41



$GPVTG,272.36,T,,M,0.004,N,0.008Set
Power: 21
Steer: 89
_PWM:  +00025 Fwd



,K,A*33



Steer:  -00003



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00082  Velocity



Steer: target current -00003 -00086 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095455.200,40
Power: 11
Steer: 100
46.019322,N,-20.833,M,,*67



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,35,07,59,312,34,10,49,064,36,30,46,204,42*73



$GPGSV,3,2,12,21,36,258,35,05,33,189,40,12,23,175,39,02,18,063,38*7B



$GPGSV,3,3,12,2
Power: 0
Steer: 0
9,10,120,40,31,07,281,26,16,06,325,30,18,05,202,34*70



$GPRMC,095455.200,A,4046B



$GPVTG,272.36,T,,M,0.010,N,0.018,K,A*37



$GPGGA,095455.400,4046.019321,N,11913.681301,W,1,12,0.71,1181.019,M,-20.833,M,,*69



$GPRMC,095455.400,A,4046.019321,N,11913.681301,W,0.084,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.084,N,0.155,K,ASet_PWM:  +00000 Fwd



*32




Power: -1
Power: -3
Power: -8
Power: -17
Power: -20
Steer: 4
Steer:  +00000



Motor1:  +00000 +00000 +00000  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00015  Velocity



Steer: target current +00$GPGGA,095455.600,404000 -00020 Gain: Kp Kd Ki  +00015 +6.019321,N,11913.681309,W,1,12,0.71,00000 +00001

 mindr maxdr maxa dead1181.020,M,-20.833,M,,*69



$GPRMC,095:  +00030 +00200 +00255 +00010



455.600,A,4046.019321,N,11913.681309,W,0.019,272.36,040707,,,A*4C



$GPVTG,272.36,T,,M,0.019,N,0.035,K,A*31



$GPGGA,095455.800,4046.019322,N,11913.681312,W,1,12,0.71,1181.021,M,-20.833,M,,*6F



$GPRMC,095455.800,A,4046.019322,N,11913.681312,W,0.014,272.36,040707,,,A*46



$GPVTG,272.36,T,,M,0.014,N,0.026,K,A*3E



$GPGGA,095456.000,4046.019325,N,11913.681313,W,1,12,0.71,1181.022,M,-20.833,M,,*61



$GPRMC,095456.000,A,4046.019325,N,11913.681313,W,0.064,272.36,040707,,,A*4C



$GPVTG,272.36,T,,M,0.064,N,0.119,K,A*34



$GPGGA,095456.200,4046.019330,N,11913.681310,W,1,12,0.71,1181.024,M,-20.833,M,,*62



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,34,07,59,312,34,10,49,064,38,30,46,204,40*7E



$GPGSV,3,2,12,21,36,258,40,05,33,189,38,12,23,175,39,02,18,063,38*76



$GPGSV,3,3,12,29,10,120,36,31,07,281,33,16,06,325,32,18,05,202,41*75



$GPRMC,095456.200,A,4046.019330,N,11913.681310,W,0.514,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.514,N,0.952,K,A*31



$GPGGA,095456.400,4046.019347,N,11913.681280,W,1,12,0.71,1181.025,M,-20.833,M,,*6D



$GPRMC,095456.400,A,4046.019347,N,11913.681280,W,0.405,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.405,N,0.750,K,A*3C



$GPGGA,095456.600,4046.019360,N,11913.681258,W,1,12,0.71,1181.027,M,-20.833,M,,*6D



$GPRMC,095456.600,A,4046.019360,N,11913.681258,W,0.007,272.36,040707,,,A*40



$GPVTG,272.36,T,,M,0.007,N,0.012,K,A*3B



$GPGGA,095456.800,4046.019357,N,11913.681261,W,1,12,0.71,1181.028,M,-20.833,M,,*62



$GPRMC,095456.800,A,4046.019357,N,11913.681261,W,0.442,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.442,N,0.819,K,A*3D



$GPGGA,095457.000,4046.019346,N,11913.681290,W,1,12,0.71,1181.029,M,-20.833,M,,*64



$GPRMC,095457.000,A,4046.019346,N,11913.681290,W,0.516,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.516,N,0.956,K,A*37



$GPGGA,095457.200,4046.019335,N,11913.681324,W,1,12,0.71,1181.032,M,-20.833,M,,*66



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,36,07,59,312,32,10,49,064,37,30,46,204,39*7B



$GPGSV,3,2,12,21,36,258,38,05,33,189,39,12,23,175,36,02,18,063,39*76



$GPGSV,3,3,12,29,10,120,35,31,07,281,29,16,06,325,32,18,05,202,41*7D



$GPRMC,095457.200,A,4046.019335,N,11913.681324,W,0.101,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.101,N,0.187,K,A*31



$GPGGA,095457.400,4046.019335,N,11913.681331,W,1,12,0.71,1181.032,M,-20.833,M,,*64



$GPRMC,095457.400,A,4046.019335,N,11913.681331,W,0.014,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.014,N,0.026,K,A*3E



$GPGGA,095457.600,4046.019336,N,11913.681330,W,1,12,0.71,1181.032,M,-20.833,M,,*64



$GPRMC,095457.600,A,4046.019336,N,11913.681330,W,0.011,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095457.800,4046.019337,N,11913.681330,W,1,12,0.71,1181.033,M,-20.833,M,,*6A



$GPRMC,095457.800,A,4046.019337,N,11913.681330,W,0.007,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.007,N,0.012,K,A*3B



$GPGGA,095458.000,4046.019337,N,11913.681333,W,1,12,0.71,1181.034,M,-20.833,M,,*69



$GPRMC,095458.000,A,4046.019337,N,11913.681333,W,0.019,272.36,040707,,,A*49



$GPVTG,272.36,T,,M,0.019,N,0.035,K,A*31



$GPGGA,095458.200,4046.019336,N,11913.681336,W,1,12,0.71,1181.034,M,-20.833,M,,*6F



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,35,07,59,312,33,10,49,064,36,30,46,204,42*74



$GPGSV,3,2,12,21,36,258,40,05,33,189,38,12,23,175,39,02,18,063,39*77



$GPGSV,3,3,12,29,10,120,39,31,07,281,27,16,06,325,31,18,05,202,38*72



$GPRMC,095458.200,A,4046.019336,N,11913.681336,W,0.011,272.36,040707,,,A*47



$GPVTG,272.36,T,,M,0.011,N,0.021,K,A*3C



$GPGGA,095458.400,4046.019336,N,11913.681336,W,1,12,
Power: -21
Steer: 6
019336,N,11913.681333,W,1,12,0.71,1181.030,M,-20.833,M,,*6D



$GPRMC,095459.000,A,4046.019336,N,11913.681333,W,0.003,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.003,N,0.006,K,A*3A



$GPGGA,095459.200,4046.019336,N,11913.681333,W,1,12,0.71,1181.029,M,-20.833,M,,*67



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,34,07,59,312,34,10,49,064,37,30,46,204,41*70



$GPGSV,3,2,12,21,36,258,41,05,33,189,37,12,23,175,38,02,18,063,38*79



$GPGSV,3,3,12,29,11,120,38,31,07,281,29,16,06,325,31,18,05,202,36*72



$GPRMC,095459.200,A,4046.019336,N,11913.681333,W,0.001,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.001,N,0.002,K,A*3C



$GPGGA,095459.400
Power: -22
Steer: 7
,4046.019336,N,11913.681331,W,1,12,0.71,1181.028,M,-20.833,M,,*62



$GPRMC,095459.400,A,4046.019336,N,11913.681331,W,0.006,272.36,040707,,,A*41



$GPVTG,272.36,T,,M,0.006,N,0.012,K,A*3A




Steer: 9
Set_PWM:  -00022 Reverse



Steer:  +00007



Motor1:  +00000 +00000 +00056  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +000$GPGGA,095459.600,4046.0100

  currentSense: -00010  Velocit9336,N,11913.681330,W,1,12,0.71,1181.y



Steer: target current +00007 +00028,M,-20.833,M,,*61



$GPRMC,095459.006 Gain: Kp Kd Ki  +00015 +00000 +600,A,4046.019336,N,11913.681330,W,000001

 mindr maxdr maxa dead:  +000.004,272.36,040707,,,A*40



$GPVTG,27230 +00200 +00255 +00010



.36,T,,M,0.004,N,0.008,K,A*33




Steer: 11
Steer:  +00009



Motor1:  +00000 +00000 +00056  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00013  $GPGGA,095459.800,404Velocity



Steer: target current +006.019336,N,11913.681327,W,1,12,0.71,1009 +00007 Gain: Kp Kd Ki  +00015 +181.028,M,-20.833,M,,*69



$GPRMC,095400000 +00001

 mindr maxdr maxa dead59.800,A,4046.019336,N,11913.681327,:  +00030 +00200 +00255 +00010



W,0.004,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.004,N,0.007,K,A*3C




Steer: 12
Steer:  +00011



Motor1:  +00000 +00000 +00056  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00015$GPGGA,095500.000,404  Velocity



Steer: target current +6.019336,N,11913.681325,W,1,12,0.71,100011 +00009 Gain: Kp Kd Ki  +00015181.028,M,-20.833,M,,*6E



$GPRMC,0955 +00000 +00001

 mindr maxdr maxa de00.000,A,4046.019336,N,11913.681325,ad:  +00030 +00200 +00255 +00010



W,0.001,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.001,N,0.002,K,A*3C



$GPGGA,095500.200,4046.019336,N,11913.681325,W,1,12,0.71,1181.028,M,-20.833,M,,*6C



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,36,07,59,312,34,10,49,064,36,30,46,204,42*70



$GPGSV,3,2,12,21,36,258,37,05,33,189,40,12,23,175,39,02,18,063,39*78



$GPGSV,3,3,12,29,11,120,41,31,07,281,29,16,06,325,30,18,05,202,34*7F



$GPRMC,095500.200,A,4046.019336,N,11913.681325,W,0.001,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.001,N,0.003,K,A*3D



$GPGGA,095500.400,4046.019336,N,11913.681325,W,1,12,0.71,1181.027,M,-20.833,M,,*65



$GPRMC,095500.400,A,4046.019336,N,11913.681325,W,0.005,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.005,N,0.009,K,A*33



$GPGGA,095500.600,4046.019336,N,11913.681327,W,1,12,0.71,1181.027,M,-20.833,M,,*65



$GPRMC,095500.600,A,4046.019336,N,11913.681327,W,0.005,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.005,N,0.010,K,A*3B



$GPGGA,095500.800,4046
Steer: 7
.019336,N,11913.681329,W,1,12,0.71,1181.029,M,-20.833,M,,*6B



$GPRMC,095500.800,A,4046.019336,N,11913.681329,W,0.011,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095501.000,4046.019335,N,11913.681332,W,1,12,0.71,1181.030,M,-20.833,M,,*63



$GPRMC,095501.000,A,4046.019335,N,11913.681332,W,0.012,272.36,040707,,,A*4C



$GPVTG,272.36,T,,M,0.012,N,0.022,K,A*3C



$GPGGA,095501.200,4046.019336,N,11913.681335,W,1,12,0.71,1181.031,M,-20.833,M,,*64



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,36,07,59,312,33,10,49,064,36,30,46,204,42*77



$GPGSV,3,2,12,21,36,258,35,05,33,189,40,12,23,175,41,02,18,063,39*75



$GPGSV,3,3,12,29,11,120,41,31,07,281,29,16,06,325,32,18,05,202,35*7C



$GPRMC,095501.200,A,4046.019336,N,11913.681335,W,0.011,272.36,040707,,,A*49



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095501.400,4046.019336,N,11913.681338,W,1,12,0.71,1181.031,M,-20.833,M,,*6F



$GPRMC,095501.400,A,4046.019336,N,11913.681338,W,0.010,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36



$GPGGA,095501.600,4046.019337,N,11913.681340,W,1,12,0.71,1181.032,M,-20.833,M,,*60



$GPRMC,095501.600,A,4046.019337,N,11913.681340,W,0.010,272.3,040707,,,A*4F



$GPVTG,272.36,T,,M,0.010,N,0.018,K,A*37



$GPGGA,095501.800,4046
Power: -25
Steer: 0
.019336,N,11913.681342,W,1,12,0.71,1181.033,M,-20.833,M,,*6C



$GPRMC,095501.800,A,4046.019336,N,11913.681342,W,0.008,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.008,N,0.014,K,A*32




Steer: -28
Set_PWM:  -00025 Reverse



Steer:  +00000



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00$GPGGA,095502.000,4046.019000

  currentSense: -00013  Velocit334,N,11913.681344,W,1,12,0.71,1181.0y



Steer: target current +00000 +0035,M,-20.833,M,,*65



$GPRMC,095502.0008 Gain: Kp Kd Ki  +00015 +00000 +00,A,4046.019334,N,11913.681344,W,0.000001

 mindr maxdr maxa dead:  +00009,272.36,040707,,,A*45



$GPVTG,272.330 +00200 +00255 +00010



6,T,,M,0.009,N,0.017,K,A*30



$GPGGA,095502.200,4046.019332,N,11913.681346,W,1,12,
Steer: -64
0.71,1181.038,M,-20.833,M,,*6E



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,34,07,59,312,32,10,49,064,37,30,46,204,43*74



$GPGSV,3,2,12,21Steer:  -00028



Motor1:  +00,36,258,37,05,33,189,39,12,23,175,42000 +00000 +00063  PID: +00008 +000,02,18,063,40*74



$G
Steer: -90
PGSV,3,3,12,29,110 +00004  ISav: +00000

  encoderSp1,120,38,31,07,281,29,16,06,325,33,18eed: +00000

  currentSense: -00008,05,202,35*73



$GPRMC,095502.200,A,40  Velocity



Steer: target current -46.019332,N,11913.681346,W,0.007,27200028 +00005 Gain: Kp Kd Ki  +00015.36,040707,,,A*4D



$GPVTG,272.36,T,,M,0.007,N,0.013,K,A*3A



 +
Steer: -100
00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



Steer:  -00064



Motor1:  +00000 +0000$GPGGA,095502.400,400 +00063  PID: +00008 +00010 +0000446.019330,N,11913.681348,W,1,12,0.71  ISav: +00000

  encoderSpeed: +000,1181.039,M,-20.833,M,,*65



$GPRMC,0900

  currentSense: +00005  Velocity5502.400,A,4046.019330,N,
Steer: -86
11913.68134



Steer: target current -00064 -00009 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



8,W,0.010,272.36,040707,,,A*41



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36



Steer:  -00090



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00019  Velocity



Steer: target current -00090 -00024 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



Steer:  -00100



Motor1:  +00000 +00000 +00063$GPGGA,095502.600,4046.  PID: +00008 +00010 +00004  ISav: 019329,N,11913.681350,W,1,12,0.71,118+00000

  encoderSpeed: +00000

  cur1.039,M,-20.833,M,,*66



$GPRMC,09550rentSense: +00022  Velocity



Steer:2.600,A,4046.019329,N,11913.681350,W, target current -00100 -00025 Gain:0.010,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.010,N,0.018,K,A*37



 Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095502.800,4046.019327,N,11913.681352,W,1,12,0.71,1181.038,M,-20.833,M,,*65



$GPRMC,095502.800,A,4046.019327,N,11913.681352,W,0.010,272.36,040707,,,A*40



$GPVTG,272.36,T,,M,0.010,N,0.018,K,A*37



$GPGGA,095503.000,4046.019326,N,11913.681356,W,1,12,0.71,1181.038,M,-20.833,M,,*69



$GPRMC,095503.000,A,4046.019326,N,11913.681356,W,0.010,272.36,040707,,,A*4C



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36



$GPGGA,095503.200,4046.019325,N,11913.681360,W,1,12,0.71,1181.039,M,-20.833,M,,*6C



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,34,07,59,312,30,10,49,064,36,30,46,204,43*77



$GPGSV,3,2,12,21,36,258,37,05,33,189,40,12,23,175,41,02,18,063,41*78



$GPGSV,3,3,12,29,11,120,37,31,07,281,31,16,06,325,33,18,05,202,35*75



$GPRMC,095503.200,A,4046.019325,N,11913.681360,W,0.013,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.013,N,0.023,K,A*3C



$GPGGA,095503.400,4046.019325,N,11913.681365,W,1,12,0.71,1181.042,M,-20.833,M,,*63



$GPRMC,095503.400,A,4046.019325,N,11913.681365,W,0.010,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36



$GPGGA,095503.600,4046.019325,N,11913.681367,W,1,12,0.71,1181.047,M,-20.833,M,,*66



$GPRMC,095503.600,A,4046.019325,N,11913.681367,W,0.008,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.008,N,0.015,K,A*33



$GPGGA,095503.800,4046.019324,N,11913.681370,W,1,12,0.71,1181.049,M,-20.833,M,,*61



$GPRMC,095503.800,A,4046.019324,N,11913.681370,W,0.009,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.009,N,0.016,K,A*31



$GPGGA,095504.000,4046.019323,N,11913.681373,W,1,12,0.71,1181.051,M,-20.833,M,,*63



$GPRMC,095504.000,A,4046.019323,N,11913.681373,W,0.009,272.36,040707,,,A*41



$GPVTG,272.36,T,,M,0.009,N,0.016,K,A*31



$GPGGA,095504.200,4046.019322,N,11913.681376,W,1,12,0.71,1181.051,M,-20.833,M,,*65



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,39,07,59,312,36,10,49,064,36,30,46,204,41*7E



$GPGSV,3,2,12,21,36,258,38,05,33,189,39,12,23,175,41,02,18,063,40*78



$GPGSV,3,3,12,29,11,120,39,31,07,281,29,16,06,325,31,18,05,202,34*71



$GPRMC,095504.200,A,4046.019322,N,11913.681376,W,0.010,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36



$GPGGA,095504.400,4046.019322,N,11913.681381,W,1,1
Steer: 17
2,0.71,1181.053,M,-20.833,M,,*69



$GPRMC,095504.400,A,4046.019322,N,11913.681381,W,0.013,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.013,N,0.024,K,A*3B



Steer:  -00086



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00084  Velocity



Steer: target cu
Steer: 100
rrent -00086 -00090 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa de$GPGGA,095504.600,4046.01
Steer: 88
9322,N,11913.681387,W,1,12,0.71,1181.053,M,-20.833,M,,*6D



$GPRMC,095504.600,A,4046.019322,N,11913.681387,W,0.011,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.011,N,0.021,K,A*3C



Steer:  +00100



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00085  Velocity



Steer: target current +00100 -00092 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095504.800,4046.019322,N,11913.681391,W,1,12,0.71,1181.053,M,-20.833,M,,*64



$GPRMC,095504.800,A,4046.019322,N,11913.681391,W,0.008,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.008,N,0.015,K,A*33



$GPGGA,095505.000,4046.019324,N,11913.681396,W,1,12,0.71,1181.054,M,-20.833,M,,*6B



$GPRMC,095505.000,A,4046.019324,N,11913.681396,W,0.010,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36



$GPGGA,095505.200,4046.019325,N,11913.681400,W,1,12,0.71,1181.055,M,-20.833,M,,*61



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,38,07,59,312,37,10,49,064,34,30,46,204,42*7F



$GPGSV,3,2,12,21,36,258,39,05,33,189,36,12,23,175,36,02,18,063,41*77



$GPGSV,3,3,12,29,11,120,40,31,07,281,23,16,06,325,30,18,05,202,37*77



$GPRMC,095505.200,A,4046.019325,N,11913.681400,W,0.011,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095505.400,4046.019325,N,11913.681404,W,1,12,0.71,1181.057,M,-20.833,M,,*61



$GPRMC,095505.400,A,4046.019325,N,11913.681404,W,0.011,272.36,040707,,,A*4C



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095505.600,4046.019324,N,11913.681410,W,1,12,0.71,1181.058,M,-20.833,M,,*68



$GPRMC,095505.600,A,4046.019324,N,11913.681410,W,0.011,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.011,N,0.021,K,A*3C



$GPGGA,095505.800,4046.019323,N,11913.681415,W,1,12,0.71,1181.059,M,-20.833,M,,*65



$GPRMC,095505.800,A,4046.019323,N,11913.681415,W,0.011,272.36,040707,,,A*46



$GPVTG,272.36,T,,M,0.011,N,0.021,K,A*3C



$GPGGA,095506.000,4046.019322,N,11913.681420,W,1,12,0.71,1181.058,M,-20.833,M,,*68



$GPRMC,095506.000,A,4046.019322,N,11913.681420,W,0.010,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36



$GPGGA,095506.200,4046.019322,N,11913.681424,W,1,12,0.71,1181.059,M,-20.833,M,,*6F



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,36,07,59,312,36,10,49,064,36,30,46,204,41*71



$GPGSV,3,2,12,21,36,258,39,05,33,189,37,12,23,175,40,02,18,063,42*74



$GPGSV,3,3,12,29,11,120,40,31,07,281,26,16,06,325,30,18,05,202,37*72



$GPRMC,095506.200,A,4046.019322,N,11913.681424,W,0.008,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.008,N,0.015,K,A*33



$GPGGA,095506.400,4046.019323,N,11913.681428,W,1,12,0.71,1181.059,M,-20.833,M,,*64



$GPRMC,095506.400,A,4046.019323,N,11913.681428,W,0.009,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.009,N,0.016,K,A*31



$GPGGA,095506.600,4046.019324,N,11913.681432,W,1,12,0.71,1181.058,M,-20.833,M,,*6B



$GPRMC,095506.600,A,4046.019324,N,11913.681432,W,0.009,272.36,040707,,,A*40



$GPVTG,272.36,T,,M,0.009,N,0.017,K,A*30



$GPGGA,095506.800,4046.019324,N,11913.681437,W,1,12,0.71,1181.059,M,-20.833,M,,*61



$GPRMC,095506.800,A,4046.019324,N,11913.681437,W,0.060,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.060,N,0.110,K,A*39



$GPGGA,095507.000,4046.019322,N,11913.681446,W,1,12,0.71,1181.060,M,-20.833,M,,*62



$GPRMC,095507.000,A,4046.019322,N,11913.681446,W,0.085,272.36,040707,,,A*46



$GPVTG,272.36,T,,M,0.085,N,0.158,K,A*3E



$GPGGA,095507.200,4046.019319,N,11913.681454,W,1,12,0.71,1181.060,M,-20.833,M,,*6B



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,34,07,59,312,32,10,49,064,36,30,46,204,42*74



$GPGSV,3,2,12,21,36,258,38,05,33,189,40,12,23,175,42,02,18,063,41*74



$GPGSV,3,3,12,29,11,120,37,31,07,281,29,16,06,325,32,18,05,202,35*7D



$GPRMC,095507.200,A,4046.019319,N,11913.681454,W,0.084,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.084,N,0.155,K,A*32



$GPGGA,095507.400,4046.019315,N,11913.681464,W,1,12,0.71,1181.060,M,-20.833,M
Steer: 51
Steer:  +00088



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSp$GPGGA,095508.800,4
Steer: 22
046.019289eed: +00000

  currentSense: -00101 ,N,11913.681524,W,1,12,0.71,1181.058 Velocity



Steer: target current +0,M,-20.833,M,,*6B



$GPRMC,095508.800,0088 +00098 Gain: Kp Kd Ki  +00015 A,4046.019289,N,11913.681524,W,0.012,+00000 +00001

 mindr maxdr maxa dea272.36,040707,,,A*4A



$GPVTG,272.36,Td:  +00030 +00200 +00255 +00010



,,M,0.012,N,0.021,K,A*3F



Steer:  +00051



Steer: 0

Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00092  Velocity



Steer: target current +00051 +00090 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



Steer:  +00022



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpe$GPGGA,095509.000,4
Steer: -7
046.019287ed: +00000

  currentSense: -00085  ,N,11913.681529,W,1,12,0.71,1181.055Velocity



Steer: target current +00,M,-20.833,M,,*6C



$GPRMC,095509.000,022 +00082 Gain: Kp Kd Ki  +00015 +A,4046.019287,N,11913.681529,W,0.013,00000 +00001

 mindr maxdr maxa dead272.36,040707,,,A*41



$GPVTG,272.36,T:  +00030 +00200 +00255 +00010



,,M,0.013,N,0.024,K,A*3B



Steer:  +00000



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00061  Velocity



Steer: target current +00000 +00057 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095509.200,4046.019285,N,11913.681533,W,1,12,0.71,1181.055,M,-20.833,M,,*67



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,30,07,59,312,34,10,49,064,39,30,46,204,42*79



$GPGSV,3,2,12,21,36,258,32,05,33,189,39,12,23,175,39,02,18,063,41*7C



$GPGSV,3,3,12,29,11,120,40,31,07,281,29,16,06,325,35,18,05,202,34*7B



$GPRMC,095509.200,A,4046.019285,N,11913.681533,W,0.011,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095509.400,4046.019283,N,11913.681537,W,1,12,0.71,1181.055,M,-20.833,M,,*63



$GPRMC,095509.400,A,4046.019283,N,11913.681537,W,0.009,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.009,N,0.017,K,A*30



$GPGGA,095509.600,4046.019281,N,11913.681541,W,1,12,0.71,1181.054,M,-20.833,M,,*63



$GPRMC,095509.600,A,4046.019281,N,11913.681541,W,0.009,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.009,N,0.017,K,A*30




Steer: -9
Steer:  -00007



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSp$GPGGA,095509.800,4046.019278,eed: +00000
Steer: -10


  currentSense: -00021 N,11913.681546,W,1,12,0.71,1181.051, Velocity



Steer: target current -0M,-20.833,M,,*69



$GPRMC,095509.800,A0007 +00014 Gain: Kp Kd Ki  +00015 ,4046.019278,N,11913.681546,W,0.011,+00000 +00001

 mindr maxdr maxa dea272.36,040707,,,A*42



$GPVTG,272.36,Td:  +00030 +00200 +00255 +00010



,,M,0.011,N,0.021,K,A*3C



Steer:  -00009



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00017  Velocity



Steer: target current -00009 +00011 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095510.000,4046.019275,N,11913.681551,W,1,12,0.71,1181.047,M,-20.833,M,,*65



$GPRMC,095510.000,A,4046.019275,N,11913.681551,W,0.011,272.36,040707,,,A*49



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095510.200,4046.019272,N,11913.681556,W,1,12,0.71,1181.044,M,-20.833,M,,*64



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,32,07,59,312,34,10,49,064,39,30,46,204,40*79



$GPGSV,3,2,12,21,36,258,33,05,33,189,37,12,23,175,39,02,18,063,37*72



$GPGSV,3,3,12,29,11,120,39,31,07,281,31,16,06,325,36,18,05,202,34*7F



$GPRMC,095510.200,A,4046.019272,N,11913.681556,W,0.009,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.009,N,0.016,K,A*31



$GPGGA,095510.400,4046.019270,N,11913.681561,W,1,12,0.71,1181.04
Steer: -7
3,M,-20.833,M,,*63



$GPRMC,095510.400,A,4046.019270,N,11913.681561,W,0.011,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.011,N,0.020,K,A*3D



$GPGGA,095510.600,4046.019268,N,11913.681565,W,1,12,0.71,1181.043,M,-20.833,M,,*6C



$GPRMC,095510.600,A,4046.019268,N,11913.681565,W,0.010,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.010,N,0.018,K,A*37



$GPGGA,095510.800,4046.019266,N,11913.681568,W,1,12,0.71,1181.044,M,-20.833,M,,*66



$GPRMC,095510.800,A,4046.019266,N,11913.681568,W,0.010,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.010,N,0.019,K,A*36




Steer: -3
Steer:  -00007



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSp$GPGGA,095511.000,4046.019263,Need: +00000

  curren
Steer: 0
tSense: -00004 ,11913.681573,W,1,12,0.71,1181.041,M Velocity



Steer: target current -0,-20.833,M,,*65



$GPRMC,095511.000,A,0007 +00000 Gain: Kp Kd Ki  +00015 4046.019263,N,11913.681573,W,0.010,27+00000 +00001

 mindr maxdr maxa de2.36,040707,,,A*4E



$GPVTG,272.36,T,ad:  +00030 +00200 +00255 +00010



,M,0.010,N,0.018,K,A*37



Steer:  -00003



Motor1:  +00000 +00000 +0006
Steer: -3
3  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: +00004  Velocity



Steer: target current -00003 -00007 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



Steer:  +00000



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpee$GPGGA,095511.200,40d: +00000

  currentSense: -00004  V46.019260,N,11913.681578,W,1,12,0.71,elocity



Steer: target current +0001181.041,M,-20.833,M,,*6F



$GPGSA,A,300 -00002 Gain: Kp Kd Ki  +00015 +0,10,31,02,21,30,07,24,12,29,05,18,160000 +00001

 mindr maxdr maxa dead,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,:  +00030 +00200 +00255 +00010



72,293,32,07,59,312,33,10,49,064,40,30,46,204,40*70



$GPGSV,3,2,12,21,36,258,34,05,33,189,37,12,23,175,39,02,18,063,37*75



$GPGSV,3,3,12,29,11,120,39,31,07,281,31,16,06,325,38,18,05,202,34*71



$GPRMC,095511.200,A,4046.019260,N,11913.681578,W,0.008,272.36,040707,,,A*4D



$GPVTG,272.36,T,,M,0.008,N,0.015,K,A*33



$GPGGA,095511.400,4046.019258,N,11913.681582,W,1,12,0.71,1181.042,M,-20.833,M,,*64



$GPRMC,095511.400,A,4046.019258,N,11913.681582,W,0.009,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.009,N,0.017,K,A*30



$GPGGA,095511.600,4046.019255,N,11913.6815
Steer: -7
87,W,1,12,0.71,1181.042,M,-20.833,M,,*6E



$GPRMC,095511.600,A,4046.019255,N,11913.681587,W,0.009,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.009,N,0.016,K,A*31



Steer:  -00003



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00001  Velocity



Steer: target current -00003 -00003
Steer: 0
 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095511.800,4046.019251,N,11913.681592,W,1,12,0.71,1181.042,M,-20.833,M,,*60



$GPRMC,095511.800,A,4046.019251,N,11913.681592,W,0.010,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.010,N,0.018,K,A*37



$GPGGA,095512.000,4046.019248,N,11913.681597,W,1,12,0.71,1181.042,M,-20.833,M,,*66



$GPRMC,095512.000,A,4046.019248,N,11913.681597,W,0.008,272.36,040707,,,A*47



$GPVTG,272.36,T,,M,0.008,N,0.015,K,A*33



$GPGGA,095512.200,4046.019245,N,11913.681602,W,1,12,0.71,1181.042,M,-20.833,M,,*66



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,28,07,59,312,32,10,49,064,39,30,46,204,41*75



$GPGSV,3,2,12,21,36,258,34,05,33,189,36,12,23,175,38,02,18,064,38*7D



$GPGSV,3,3,12,29,11,120,39,31,07,281,28,16,06,325,37,18,05,202,35*77



$GPRMC,095512.200,A,4046.019245,N,11913.681602,W,0.010,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.010,N,0.018,K,A*37



$GPGGA,095512.400,4046.019239,N,11913.681608,W,1,12,0.71,1181.039
Steer: 26
,M,-20.833,M,,*6D



$GPRMC,095512.400,A,4046.019239,N,11913.681608,W,0.011,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.011,N,0.021,K,A*3C




Steer: 56
Steer:  +00026



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSp$GPGGA,095512.600,4046.019235,N,eed: +00000

  currentSen
Steer: 81
se: -00012 11913.681612,W,1,12,0.71,1181.039,M, Velocity



Steer: target current +0-20.833,M,,*68



$GPRMC,095512.600,A,40026 +00004 Gain: Kp Kd Ki  +00015 046.019235,N,11913.681612,W,0.009,272+00000 +00001

 mindr maxdr maxa dea.36,040707,,,A*44



$GPVTG,272.36,T,,d:  +00030 +00200 +00255 +00010



M,0.009,N,0.017,K,A*30




Steer: 91
Steer:  +00081



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpe$GPGGA,095512.800,4046.019231,N,ed: +00000

  currentSens
Steer: 100
e: -00020 11913.681618,W,1,12,0.71,1181.039,M,- Velocity



Steer: target current +020.833,M,,*68



$GPRMC,095512.800,A,400081 +00015 Gain: Kp Kd Ki  +00015 46.019231,N,11913.681618,W,0.010,272+00000 +00001

 mindr maxdr maxa dea.36,040707,,,A*4C



$GPVTG,272.36,T,,d:  +00030 +00200 +00255 +00010



M,0.010,N,0.019,K,A*36




Steer: 83
Steer:  +00100



Motor1:  +00000 +00000 +00063  PID: +00008 +00010 +00004  ISav: +00000

  encoderSp$GPGGA,095513.000,4046.019eed: +00000

  currentSense: -00050229,N,11913.681624,W,1,12,0.71,1181.  Velocity



Steer: target current +038,M,-20.833,M,,*66



$GPRMC,095513.00100 +00044 Gain: Kp Kd Ki  +00015000,A,4046.019229,N,11913.681624,W,0. +00000 +00001

 mindr maxdr maxa de010,272.36,040707,,,A*43



$GPVTG,272.ad:  +00030 +00200 +00255 +00010



36,T,,M,0.010,N,0.018,K,A*37



$GPGGA,095513.200,4046.019226,N,11913.681630,W,1,12,0.71,1181.039,M,-20.833,M,,*6F



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,32,07,59,312,33,10,49,064,39,30,46,204,39*70



$GPGSV,3,2,12,21,36,258,34,05,33,189,37,12,23,175,39,02,18,064,38*7D



$GPGSV,3,3,12,29,11,120,39,31,07,281,30,16,06,325,36,18,05,202,34*7E



$GPRMC,095513.200,A,4046.019226,N,11913.681630,W,0.009,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.009,N,0.017,K,A*30



$GPGGA,095513.400,4046.019223,N,11913.681635,W,1,12,0.71,1181.039,M,-20.833,M,,*69



$GPRMC,095513.400,A,4046.019223,N,11913.681635,W,0.009,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.009,N,0.017,K,A*30



$GPGGA,095513.600,4046.019219,N,11913.681639,W,1,12,0.71,1181.037,M,-20.833,M,,*60



$GPRMC,095513.600,A,4046.019219,N,11913.681639,W,0.008,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.008,N,0.015,K,A*33



$GPGGA,095513.800,4046.019216,N,11913.681643,W,1,12,0.71,1181.036,M,-20.833,M,,*6D



$GPRMC,095513.800,A,4046.019216,N,11913.681643,W,0.009,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.009,N,0.016,K,A*31



$GPGGA,095514.000,4046.019212,N,11913.681648,W,1,12,0.71,1181.037,M,-20.833,M,,*6C



$GPRMC,095514.000,A,4046.019212,N,11913.681648,W,0.008,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.008,N,0.015,K,A*33



$GPGGA,095514.200,4046.019208,N,11913.681653,W,1,12,0.71,1181.039,M,-20.833,M,,*61



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,31,07,59,312,32,10,49,064,39,30,46,204,40*7C



$GPGSV,3,2,12,21,36,258,35,05,33,189,37,12,23,175,39,02,18,064,38*7C



$GPGSV,3,3,12,29,11,120,39,31,07,281,32,16,06,325,37,18,05,202,33*7A



$GPRMC,095514.200,A,4046.019208,N,11913.681653,W,0.009,272.36,040707,,,A*4D



$GPVTG,272.36,T,,M,0.009,N,0.016,K,A*31



$GPGGA,095514.400,4046.019204,N,11913.681657,W,1,12,0.71,1181.040,M,-20.833,M,,*61



$GPRMC,095514.400,A,4046.019204,N,11913.681657,W,0.008,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.008,N,0.016,K,A*30



$GPGGA,095514.600,4046.019202,N,11913.681662,W,1,12,0.71,1181.040,M,-20.833,M,,*63



$GPRMC,095514.600,A,4046.019202,N,11913.681662,W,0.007,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.007,N,0.013,K,A*3A



$GPGGA,095514.800,4046.019199,N,11913.681666,W,1,12,0.71,1181.038,M,-20.833,M,,*67



$GPRMC,095514.800,A,4046.019199,N,11913.681666,W,0.006,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.006,N,0.012,K,A*3A



$GPGGA,095515.000,4046.019196,N,11913.681671,W,1,12,0.71,1181.038,M,-20.833,M,,*67



$GPRMC,095515.000,A,4046.019196,N,11913.681671,W,0.007,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.007,N,0.013,K,A*3A



$GPGGA,095515.200,4046.019193,N,11913.681675,W,1,12,0.71,1181.038,M,-20.833,M,,*64



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,31,07,59,312,32,10,49,064,38,30,46,204,35*7F



$GPGSV,3,2,12,21,36,258,36,05,33,189,35,12,23,175,37,02,18,064,38*73



$GPGSV,3,3,12,29,11,120,40,31,07,281,32,16,06,325,36,18,05,202,31*77



$GPRMC,095515.200,A,4046.019193,N,11913.681675,W,0.007,272.36,040707,,,A*47



$GPVTG,272.36,T,,M,0.007,N,0.013,K,A*3A



$GPGGA,095515.400,4046.019190,N,11913.681680,W,1,12,0.71,1181.038,M,-20.833,M,,*6B



$GPRMC,095515.400,A,4046.019190,N,11913.681680,W,0.006,272.36,040707,,,A*49



$GPVTG,272.36,T,,M,0.006,N,0.010,K,A*38



$GPGGA,095515.600,4046.019187,N,11913.681684,W,1,12,0.71,1181.037,M,-20.833,M,,*64



$GPRMC,095515.600,A,4046.019187,N,11913.681684,W,0.006,272.36,040707,,,A*49



$GPVTG,272.36,T,,M,0.006,N,0.010,K,A*38



$GPGGA,095515.800,4046.019184,N,11913.681688,W,1,12,
Steer: 53
Steer:  +00083



Motor1:  +00000 +00000 +00063  PID: +00008 +0001$GPGGA,095517.000,4046.019146,N,11910 +00004  ISav: +00000

  encoderSp3.68172
Steer: 38
5,W,1,12,0.71,1181.031,M,-20.8eed: +00000

  currentSense: -00099 33,M,,*61



$GPRMC,095517.000,A,4046.0 Velocity



Steer: target current +019146,N,11913.681725,W,0.003,272.36,0083 +00093 Gain: Kp Kd Ki  +00015 040707,,,A*4F



$GPVTG,272.36,T,,M,0.+00000 +00001

 mindr maxdr maxa dea003,N,0.005,K,A*39



d:  +00030 +0
Steer: 33
0200 +00255 +00010



Steer:  +00038



Motor1:  +00000 +00000 +00063  PID: +00008 +0001$GPGGA,095517.200,4046.0191400 +00004  ISav: +00000

  encoderSpe,N,11913.681
Steer: 31
733,W,1,12,0.71,1181.029ed: +00000

  currentSense: -00096  ,M,-20.833,M,,*6B



$GPGSA,A,3,10,31,0Velocity



Steer: target current +002,21,30,07,24,12,29,05,18,16,1.21,0.7038 +00091 Gain: Kp Kd Ki  +00015 1,0.97*0B



$GPGSV,3,1,12,24,72,293,31+00000 +00001

 mindr maxdr maxa dea,07,59,312,34,10,49,064,42,30,46,204d:  +
Steer: 4
00030 +00200 +00255 +00010



,36*77



$GPGSV,3,2,12,21,36,258,34,05,33,189,35,12,23,175,34,02,18,064,40*7D



$GPGSV,3,3,12,29,11,120,37,31,07,281,25,16,06,325,31,18,05,202,36*71



$GPRMC,095517.200,A,4046.019140,N,11913.681733,W,0.004,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.004,N,0.007,K,A*3C



$GPGGA,095517.400,4046.019135,N,11913.681741,W,1,12,0.71,1181.029,M,-20.833,M,,*6A



$GPRMC,095517.400,A,4046.019135,N,11913.681741,W,0.003,272.36,040707,,,A*4D



$GPVTG,272.36,T,,M,0.003,N,0.006,K,A*3A



$GPGGA,095517.600,4046.019127,N,11913.681745,W,1,12,0.71,1181.027,M,-20.833,M,,
Steer: 0
*61



$GPRMC,095517.600,A,4046.019127,N,11913.681745,W,0.003,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.003,N,0.006,K,A*3A




Steer: 3
Steer:  +00000



Motor1:  +00000 +00000 +00063  PID: +00008 +0001$GPGGA,095517.800,4046.019118,N,11910 +00004  ISav: +00000

  encoderSpe3.681753,W,1,12,0.71,1181.025,M,-20.8ed: +00000

  currentSense: -00056  33,M,,*66



$GPRMC,095517.800,A,4046.0Velocity



Steer: target current +0019118,N,11913.681753,W,0.003,272.36,000 +00052 Gain: Kp Kd Ki  +00015 +040707,,,A*4D



$GPVTG,272.36,T,,M,0.000000 +00001

 mindr maxdr maxa dead03,N,0.006,K,A*3A



:  +00030 +00200 +00255 +00010



$GPGGA,095518.000,4046.019109,N,11913.681759,W,1,12,0.71,1181.023,M,-20.833,M,,*6D



$GPRMC,095518.000,A,4046.019109,N,11913.681759,W,0.003,272.36,040707,,,A*40



$GPVTG,272.36,T,,M,0.003,N,0.006,K,A*3A



$GPGGA,095518.200,4046.019101,N,11913.681765,W,1,12,0.71,1181.022,M,-20.
Steer: 7
833,M,,*69



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,32,07,59,312,34,10,49,064,42,30,46,204,34*76



$GPGSV,3,2,12,21,36,258,32,05,33,189,36,12,23,175,33,02,18,064,41*7E



$GPGSV,3,3,12,29,11,120,36,31,07Steer:  +00003



Motor1:  +0000,281,25,16,06,325,30,18,05,202,37*70

0 +00000 +00063  PID: +00008 +00010

$GPRMC,095518.200,A,4046.019101,N,11 +00004  ISav: +00000

  encoderSpee913.681765,W,0.004,272.36,040707,,,Ad: +00000

  currentSense: -00011  *42



$GPVTG,272.36,T,,M,0.004,N,0.007Velocity



Steer: target current +00,K,A*3C



003 +00005 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGA,095518.400,4046.019093,N,11913.681772,W,1,12,0.71,1181.021,M,-20.833,M,,*60



$GPRMC,095518.400,A,4046.019093,N,11913.681772,W,0.004,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.004,N,0.007,K,A*3C



$GPGGA,095518.600,4046.019085,N,11913.681777,W,1,12,0.71,1181.021,M,-20.833,M,,*60



$GPRMC,095518.600,A,4046.019085,N,11913.681777,W,0.003,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.003,N,0.006,K,A*3A



$GPGGA,095518.800,4046.019081,N,11913.681783,W,1,12,0.71,1181.019,M,-20.833,M,,*6A



$
Steer: 11
GPRMC,095518.800,A,4046.019081,N,11913.681783,W,0.006,272.36,0407$GPGGA,095519.000,4046.019077,N,11913.681787,W,1,12,0.71,1181.017,M,-20.833,M,,*60



$GPRM
Steer: 22
C,095519.000,A,4046.019077,N,11913.681787,W,0.007,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.007,N,0.013,K,A*3A
Steer: 17
Steer:  +00022



Motor1:  +00000 +00000 +00063  PID: +00008 +0001$GPGGA,095519.200,4046.019073,N0 +00004  ISav: +00000

  encoderSpe,11913.681790,W,1,12,0.71,1181.015,Med: +00000

  currentSense: -00015  ,-20.833,M,,*62



$GPGSA,A,3,10,31,02,Velocity



Steer: target current +0021,30,07,24,12,29,05,18,16,1.21,0.71,022 +00009 Gain: Kp Kd Ki  +00015 0.97*0B



$GPGSV,3,1,12,24,72,293,35,+00000 +00001

 mindr maxdr maxa dea07,59,312,37,10,49,064,42,30,46,204,3d:  +00030 +00200 +00255 +00010



5*73



$GPGSV,3,2,12,21,36,258,35,05,32,189,32,12,23,175,33,02,18,064,39*73



$GPGSV,3,3,12,29,11,120,36,31,07,281,22,16,06,325,29,18,05,202,38*70



$GPRMC,095519.200,A,4046.019073,N,11913.681790,W,0.006,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.006,N,0.011,K,A*39



$GPGGA,095519.400,4046.019068,N,11913.681794,W,1,12,0.71,1181.014,M,-20.833,M,,*6B



$GPRMC,095519.400,A,4046.019068,N,11913.681794,W,0.006,272.36,040707,,,A*47



$GPVTG,272.36,T,,M,0.006,N,0.011,K,A*39



$GPGGA,095519.600,4046.019063,N,11913.681797,W,1,12,0.71,1181.013,M,-20.833,M,,*66



$GPRMC,095519.600,A,4046.019063,N,11913.681797,W,0.004,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.004,N,0.008,K,A*33



$GPGGA,095519.800,4046.019058,N,11913.681801,W,1,12,0.71,1181.012,M,-20.833,M,,*61



$GPRMC,095519.800,A,4046.019058,N,11913.681801,W,0.002,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.002,N,0.004,K,A*39



$GPGGA,095520.000,4046.019055,N,11913.681805,W,1,12,0.71,1181.011,M,-20.833,M,,*69



$GPRMC,095520.000,A,4046.019055,N,11913.681805,W,0.003,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.003,N,0.005,K,A*39



$GPGGA,095520.200,4046.019051,N,11913.681808,W,1,12,0.71,1181.010,M,-20.833,M,,*63



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,34,07,59,312,36,10,49,064,42,30,46,204,35*73



$GPGSV,3,2,12,21,36,258,35,05,32,189,34,12,23,175,32,02,18,064,40*7A



$GPGSV,3,3,12,29,11,120,35,31,07,281,24,16,06,325,28,18,05,202,38*74



$GPRMC,095520.200,A,4046.019051,N,11913.681808,W,0.003,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.003,N,0.006,K,A*3A



$GPGGA,095520.400,4046.019048,N,11913.681810,W,1,12,0.71,1181.011,M,-20.833,M,,*65



$GPRMC,095520.400,A,4046.019048,N,11913.681810,W,0.004,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.004,N,0.007,K,A*3C



$GPGGA,095520.600,4046.019045,N,11913.681813,W,1,12,0.71,1181.012,M,-20.833,M,,*6A



$GPRMC,095520.600,A,4046.019045,N,11913.681813,W,0.004,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.004,N,0.008,K,A*33



$GPGGA,095520.800,4046.019040,N,11913.681815,W,1,12,0.71,1181.011,M,-20.833,M,,*64



$GPRMC,095520.800,A,4046.019040,N,11913.681815,W,0.004,272.36,040707,,,A*4F



$GPVTG,272.36,T,,M,0.004,N,0.008,K,A*33



$GPGGA,095521.000,4046.019036,N,11913.681817,W,1,12,0.71,1181.010,M,-20.833,M,,*6F



$GPRMC,095521.000,A,4046.019036,N,11913.681817,W,0.005,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.005,N,0.009,K,A*33



$GPGGA,095521.200,4046.019033,N,11913.681820,W,1,12,0.71,1181.010,M,-20.833,M,,*6C



$GPGSA,A,3,10,31,02,21,30,07,24,12,29,05,18,16,1.21,0.71,0.97*0B



$GPGSV,3,1,12,24,72,293,33,07,59,312,37,10,49,064,43,30,46,204,33*72



$GPGSV,3,2,12,21,36,258,35,05,32,189,34,12,23,175,34,02,18,064,41*7D



$GPGSV,3,3,12,29,11,120,37,31,07,281,25,16,06,325,28,18,05,202,38*77



$GPRMC,095521.200,A,4046.019033,N,11913.681820,W,0.006,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.006,N,0.010,K,A*38



$GPGGA,095521.400,4046.019029,N,11913.681822,W,1,12,0.71,1181.010,M,-20.833,M,,*63



$GPRMC,095521.400,A,4046.019029,N,11913.681822,W,0.005,272.36,040707,,,A*48



$GPVTG,272.36,T,,M,0.005,N,0.009,K,A*33



$GPGGA,095521.600,4046.019025,N,11913.681825,W,1,12,0.71,1181.009,M,-20.833,M,,*62



$GPRMC,095521.600,A,4046.019025,N,11913.681825,W,0.005,272.36,040707,,,A*41



$GPVTG,272.36,T,,M,0.005,N,0.009,K,A*33



$GPGGA,095521.800,4046.019021,N,11913.681828,W,1,12,0.71,1181.009,M,-20.833,M,,*65



$GPRMC,095521.800,A,4046.019021,N,11913.681828,W,0.006,272.36,040707,,,A*45



$GPVTG,272.36,T,,M,0.006,N,0.010,K,A*38



$GPGGA,095522.000,4046.019017,N,11913.681830,W,1,12,
Power: -23
Steer: 15
Steer:  +00017



Motor1:  +00000 +00000 +00063  PID: +00008 +0001$GPGGA,095522.200 +00004  ISav: +00000

  encoderSpe0,4046.019013,N,11913.681830,W,1,12,ed: +00000

  currentSense: -00022 0.71,1181.007,M,-20.833,M,,*6A



$GPGS Velocity



Steer: target current +0A,A,3,10,31,02,21,30,07,24,12,29,05,10017 +00016 Gain: Kp Kd Ki  +00015 8,16,1.21,0.71,0.97*0B



$GPGSV,3,1,1+00000 +00001

 mindr maxdr maxa dea2,24,72,293,33,07,59,312,37,10,49,06d:  +00030 +00200 +00255 +00010



4,42,30,46,204,35*75



$GPGSV,3,2,12,21,36,258,34,05,32,189,35,12,23,175,32,02,18,064,41*7B



$GPGSV,3,3,12,29,11,120,34,31,07,281,24,16,06,325,28,18,05,202,38*75



$GPRMC,095522.200,A,4046.019013,N,11913.681830,W,0.004,272.36,040707,,,A*46



$GPVTG,272.36,T,,M,0.004,N,0.007,K,A*3C



$GPGGA,095522.400,4046.019010,N,11913.681831,W,1,12,0.71,1181.006,M,-20.833,M,,*6F



$GPRMC,095522.400,A,4046.019010,N,11913.681831,W,0.005,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.005,N,0.010,K,A*3B



$GPGGA,095522.600,4046.019008,N,11913.681832,W,1,12,0.71,1181.005,M,-20.833,M,,*64



$GPRMC,095522.600,A,4046.019008,N,11913.681832,W,0.005,272.36,040707,,,A*4B



$GPVTG,272.36,T,,M,0.005,N,0.009,K,A*33



$GPGGA,095522.800,4046.019004,N,11913.681832,W,1,12,0.71,1181.005,M,-20.833,M,,*66



$GPRMC,095522.800,A,4046.019004,N,11913.681832,W,0.006,272.36,040707,,,A*4A



$GPVTG,272.36,T,,M,0.006,N,0.011,K,A*39



$GPGGA,095523.000,4046.019002,N,11913.681832,W,1,12,0.71,1181.004,M,-20.833,M,,*68



$GPRMC,095523.000,A,4046.019002,N,11913.681832,W,0.007,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.007,N,0.012,K,A*3B




Power: -21
Steer: 14
Set_PWM:  -00023 Reverse



St$GPGGA,095523.200,4046.018999,N,11eer:  +00015



Motor1:  +00000 +0000913.681832,W,1,12,0.71,1181.003,M,-200
Power: -19
Power: -18
Steer: 12
 +00058  PID: +00008 +00010 +00004.833,M,,*67



$GPGSA,A,3,10,31,02,21,3  ISav: +00000

  encoderSpeed: +0000,07,24,12,29,05,18,16,1.21,0.71,0.900

  currentSense: -00030  Velocity7*0B



$GPGSV,3,1,12,24,73,293,33,07,



Steer: target current +00015 +00059,312,36,10,49,064,43,30,46,204,35*723 Gain: Kp Kd Ki  +00015 +00000 +4



$GPGSV,3,2,12,21,36,258,35,05,32,100001

 mindr maxdr maxa dead:  +00089,36,12,23,175,33,02,18,064,40*79



30 +00200 +00255 +00010



$GPGSV,3,3,12,29,11,120,35,31,07,281,26,16,06,325,28,18,05,202,38*76



$GPRMC,095523.200,A,4046.018999,N,11913.681832,W,0.005,272.36,040707,,,A*4E



$GPVTG,272.36,T,,M,0.005,N,0.010,K,A*3B



Set_PWM:  -00021 Reverse



Steer:  +00014



Motor1:  +00000 +00000 +00053  PID: +00008 +00010 +00004  ISav
Power: -16
Steer: 11
: +00000

  encoderSpeed: +00000

  curr$entSense: -00031  Velocity



Steer: GPGGA,095523.400,4046.018995,N,11913.target current +00014 +00027 Gain: 681833,W,1,12,0.71,1181.004,M,-20.833Kp Kd Ki  +00015 +00000 +00001

 min,M,,*6B



$GPRMC,095523.400,A,4046.018995,N,11913.681833,W,0.003,272.36,040707,,,A*43



$GPVTG,272.36,T,,M,0.003,N,0.006,K,A*3A



dr maxdr maxa dead:  +0003
Power: -13
Steer: 9
0 +00200 +00255 +00010



Set_PWM:  -00019 Reverse



Set_PWM:  -00018 Reverse



Steer:  +00012



Motor1:  +00000 +00000 +00045  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00027  Velocity



Steer: target current +00012 +00019 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead
Power: -10
Steer: 6
:  +00030 +00200 +00255 +00010



$GPGGA,095523.600,4046.018991,N,11913.681833,W,1,12,0.71,1181.004,M,-20.833,M,,*6D



$GPRMC,095523.600,A,4046.018991,N,11913.681833,W,0.004,272.36,040707,,,A*42



$GPVTG,272.36,T,,M,0.004,N,0.008,K,A*33



Set_PWM:  -00013 Reverse



Steer:  +00009



Motor1:  +00000 +00000 +00033  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000


Steer: 4
  currentSense: -00017  Velocity



Steer: target current +00009 +00013 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGSet_PWM:  -00010 Reverse



StA,095523.800,4046.018988,N,11913.6818eer:  +00006



Motor1:  +00000 +000033,W,1,12,0.71,1181.003,M,-20.833,M
Power: -8
Power: -6
Steer: 3
,,0 +00025  PID: +00008 +00010 +00004*6C



$GPRMC,095523.800,A,4046.018988  ISav: +00000

  encoderSpeed: +000,N,11913.681833,W,0.005,272.36,04070700

  currentSense: -00018  Velocity,,,A*45



$GPVTG,272.36,T,,M,0.005,N,



Steer: target current +00006 +0000.009,K,A*33



14 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



Steer:  +00004



Motor1:  +00000 +00000 +00025  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00016  Velocity



Steer: target current +00004 +00012 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



$GPGGSet_PWM:  -00008 Reverse



A,095524.000,4046.018985,N,11913.681833,W,1,12,0.71,1181.002,M,-20.833,M,,*6F



$GPRMC,09
Power: -5
Steer: 1
5524.000,A,4046.018985,N,11913.681833,W,0.006,272.36,040707,,,A*44



$GPVTG,272.36,T,,M,0.006,N,0.010,K,A*38



Set_PWM:  -00006 Reverse



Steer:  +00003



Motor1:  +00000 +00000 +00015  PID: +00008 +00010 +00004  ISav: +00000

  encoderSpeed: +00000

  currentSense: -00018  Veloci
Power: -4
Steer: 0
ty



Steer: target current +00003 +00013 Gain: Kp Kd Ki  +00015 +00000 +00001

 mindr maxdr maxa dead:  +00030 +00200 +00255 +00010



Set_PWM:  -00005 Reverse



Ste$GPGGA,095524.200,4046.018983,N,er:  +00001



Motor1:  +00000 +0000011913.681833,W,1,12,0.71,1181.001,M, +00012  PI
Power: -3
Power: -2
Power: -1
Power: 0
