got joystick $GPGGA,103122.000,4046.008189,N,11913.671952,W,1,10,0.90,1184.718,M,-20.833,M,,*6B $GPRMC,103122.000,A,4046.008189,N,11913.671952,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 V elocity Steer: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 min+00255 +00010 $GPGGA,103122.200,4046.008190,N,11913.671952,W,1,10,0.90,1184.717,M,-20.833,M,,*6E $GPRMC,103122.200,A,4046.008190,N,11913.671952,W,0.000,48.55,040707,,,A*76 $GPVTG,48. 55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00010 Velocity Steer: target current -00003 +00003 Gain: Kp Kd Ki +00015 + 00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103122.400,4046.008190,N,11913.671951Motor1: +00000 +00000 +00000 ,W,1,10,0.90,1184.716,M,-20.833,M,,* PID: +00008 +00010 +00004 ISav: +6A $GPGSA,A,3,10,16,18,21,30,07,12, 200000 encoderSpeed: +00000 cur9,05,06,,,1.58,0.90,1.30*06 $GPGSV,3rentSense: -00009 Velocity Steer:,1,11,06,86,343,30,07,75,313,28,24,74 target current -00003 +00005 Gain:,354,17,21,48,274,38*7E $GPGSV,3,2, Kp Kd Ki +00015 +00000 +00001 mi11,10,37,050,38,30,30,196,41,29,22,10ndr maxdr maxa dead: +000 30 +002007,34,18,20,204,38*74 $GPGSV,3,3,11, +00255 +00010 16,18,318,35,05,17,185,39,12,08,173,38*4B $GPRMC,103122.400,A,4046.008190,N,11913.671951,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103122.600,4046.008190,N,11913.671950,W,1,10,0.90,1184.716,M,-20.833,M,,*69 $GPRMC,103122.600,A,4046.008190,N,11913.671950,W,0.001,48.55,040707, ,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: target current -00003 +0 0004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103122.800,4046.008188,N,11913.671947,W,1,1Motor1: +00000 +00000 +00000 0,0.90,1184.716,M,-20.833,M,,*68 $GPPID: +00008 +00010 +00004 ISav: +RMC,103122.800,A,4046.008188,N,11913 .00000 encoderSpeed: +00000 curr671947,W,0.001,48.55,040707,,,A*70 entSense: -00009 Velocity Steer: $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*0target current -00003 +00003 Gain: 3 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103123.000,4046.008187,N,11913.671946,W,1,1Motor1: +00000 +00000 +00000 0,0.90,1184.716,M,-20.833,M,,*6F $GP PID: +00008 +00010 +00004 ISav: +RMC,103123.000,A,4046.008187,N,11913.000 00 encoderSpeed: +00000 curr671946,W,0.001,48.55,040707,,,A*77 entSense: -00011 Velocity Steer: $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*0target current -00003 +00003 Gain: 1 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103123.200,4046.008186,N,11913.671945,W,1,1Motor1: +00000 +00000 +00000 0,0.90,1184.717,M,-20.833,M,,*6E $GP PID: +00008 +00010 +00004 ISav: +RMC,103123.200,A,4046.008186,N,11913.000 00 encoderSpeed: +00000 curr671945,W,0.001,48.55,040707,,,A*77 entSense: -00009 Velocity Steer: $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*0target current -00003 +00003 Gain: 1 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103123.400,4046.008186,N,11913.671944,Motor1: +00000 +00000 +00000 W,1,10,0.90,1184.718,M,-20.833,M,,*6 PID: +00008 +00010 +00004 ISav: +6 $GPGSA,A,3,10,16,18,21,30,07,12,20000 0 encoderSpeed: +00000 curr9,05,06,,,1.58,0.90,1.30*06 $GPGSV,3entSense: -00009 Velocity Steer:,1,11,06,86,343,30,07,75,313,28,24,74 target current -00003 +00004 Gain:,354,16,21,48,274,38*7F $GPGSV,3,2, Kp Kd Ki +00015 +00000 +00001 mi11,10,37,050,38,30,30,196,41,29,22,10ndr maxdr maxa dead: +00030 +0 02007,33,18,20,204,38*73 $GPGSV,3,3,11,1 +00255 +00010 6,18,318,35,05,17,185,38,12,08,173,38*4A $GPRMC,103123.400,A,4046.008186,N,11913.671944,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GPGGA,103123.600,4046.008186,N,11913.671945,W,1,10Motor1: +00000 +00000 +00000 ,0.90,1184.719,M,-20.833,M,,*64 $GPR PID: +00008 +00010 +00004 ISav: +MC,10312 3.600,A,4046.008186,N,11913.00000 encoderSpeed: +00000 curr671945,W,0.000,48.55,040707,,,A*72 entSense: -00008 Velocity Steer: $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encod erSpeed: +00000 currentSense: -00009 Velocity Steer: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103123.800,4046.008186,N,11913.671946,W,1,10,0.90,1184.719,M,-20.833,M,,*69 $GPRMC,103123.800,A,4046.008186,N,11913.671946,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.00 0,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00007 Velocity Steer: target current -00003 +00003 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103124.000,4046.008186,N,11913.671947,W,1,10Motor1: +00000 +00000 +00000 ,0.90,1184.719,M,-20.833,M,,*67 $GPRPID: +00008 +00010 +00004 ISav: +MC,103124.000,A,4046.008186,N,11913.600000 encoderSpeed: +00000 curr71947,W,0.000,48.55,040707,,,A*71 $entSense: -00008 Velocity Steer: GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: target current -00003 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103124.200,4046.008186,N,11913.671949,W,1,10,0.90,1184.720,M,-20.833,M,,*61 $GPRMC,103124.200,A,4046.008186,N,11913.671949,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.00 2,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00008 Velocity Steer: target current -00003 +00003 Gai n: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103124.400,4046.008187,N,11913.671Motor1: +00000 +00000 +00000 950,W,1,10,0.90,1184.721,M,-20.833,M, PID: +00008 +00010 +00004 ISav: +,*6F $GPGSA,A,3,10,16,18,21,30,07,100000 encoderSpeed: +00000 curr2,29,05,06,,,1.58,0.90,1.30*06 $GPGSentSense: -00009 Velocity Steer: V,3,1,11,06,86,343,30,07,75,313,28,24target current -00003 +00004 Gain: ,74,354,17,21,48,274,38*7E $GPGSV,3Kp Kd Ki +00015 +00000 +00001 min,2,11,10,37,049,38,30,30,196,40,29,22dr maxdr maxa dead: +00030 +00200 ,107,33,18,20,204,38*7A $GPGSV,3,3,1+00255 +00010 1,1 6,18,318,33,05,17,185,38,12,08,173,38*4C $GPRMC,103124.400,A,4046.008187,N,11913.671950,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00010 Velocity Steer: target cur$GPGGA,103124.60rent -00003 +0000 3 Gain: Kp Kd Ki 0,4046.008186,N,11913.671950,W,1,10,0.90,1184.723,M,-20.833,M,,*6E $GPRMC,103124.600,A,4046.008186,N,11913.671950,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00 000 encoderSpeed: +00000 currentSense: -00008 Velocity Steer: target current -00003 +00002 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103124.800,4046.008184,N,11913.671950,W,1,10,0.90,1184.726,M,-20.833,M,,*67 $GPRMMotor1: +00000 +00000 +00000 C,103124.800,A,4046.008184,N,11913.67 PID: +00008 +00010 +00004 ISa v: +1950,W,0.001,48.55,040707,,,A*7C $G00000 encoderSpeed: +00000 currPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 entSense: -00009 Velocity Steer: target current -00003 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSens e: -00009 Velocity Steer: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103125.000,4046.008185,N,11913.671950,W,1,10,0.90,1184.728,M,-20.833,M,,*6Motor1: +00000 +00000 +00000 1 $GPRMC,103125.000,A,4046.008185,N,PID: +00008 +00010 +00004 ISav: +011913.671 950,W,0.000,48.55,040707,,,A0000 encoderSpeed: +00000 curr*75 $GPVTG,48.55,T,,M,0.000,N,0.000,entSense: -00008 Velocity Steer: K,A*01 target current -00003 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSen se: -00009 Velocity Steer: target current -00003 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103125.200,4046.008185,N,11913.671951,W,1,10,0.90,1184.727,M,-20.833,M,,*6D $GPRMC,103125.200,A,4046.008185,N,11913.671951,W,0.001,48.55,040707,,,A*77 $GPVTG,4 8.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00008 Velocity Ste er: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103125.400,4046.008186,N,11913.671952,W,1,10,0.90,1184.727,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,343,28,07,7 5,313,28,24,74,354,17,21,48,274,37*78 $GPGSV,3,2,11,10,37,049,38,30,30,196,40,29,22,107,33,18,20,204,38*7A $GPGSV,3,3,11,16,18,318,33,05,17,185,38,12,08,173,39*4D $GPRMC,103125.400,A,4046.008186,N,11913.671952,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,Motor1: +00000 +00000 +00000 0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00009 Velocity Steer: target current -00003 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103125.600,4046.008185,N,11913.671952,W,1,10,0.90,1184.724,M,-20.833,M,,*69 $GMotor1: +00000 +00000 +00000 PRMC,103125.600,A,4046.008185,N,11913PID: +00008 +00010 +00004 ISav: +0.671952,W,0 .000,48.55,040707,,,A*71 0000 encoderSpeed: +00000 curr$GPVTG,48.55,T,,M,0.000,N,0.000,K,A*entSense: -00009 Velocity Steer: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0 0030 +00200 +00255 +00010 01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103125.80010 0,4046.008185,N,11913.671952, W,1,10,0.90,1184.723,M,-20.833,M,,*60 $GPRMC,103125.800,A,4046.008185,N,11913.671952,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00007 Velocity Steer: target current -00003 +00003 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103126.000,4046.008185,N,11913.671949,W,1,10,0.90,1184.723,M,-20.833,M,,*61 $GPRMC,103126.000,A,4046.008185,N,11913.671949,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00008 Velocity Steer: tar get current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103126.200,4046.008184,N,11913.671948,W,1,10,0.90,1184.724,M,-20.833,M,,*64 $GPRMC,103126.200,A,4046.008184,N,11913.671948,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: ta rget current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103126.400,4046.008183,N,11913.671947,W,1,10,0.90,1184.725,M,-20.833,M,,*Motor1: +00000 +00000 +00000 6B $GPGSA,A,3,10,16,18,21,30,07,12, PID: +00008 +00010 +00004 ISav: +29,05,06,,,1.58, 0.90,1.30*06 $GPGSV,00000 encoderSpeed: +00000 curr3,1,11,06,86,343,29,07,75,313,28,24,7entSense: -00009 Velocity Steer: 4,355,17,21,48,274,37*78 $GPGSV,3,2target current -00003 +00003 Gain: ,11,10,37,049,38,30,30,196,40,29,22,1Kp Kd Ki +00015 +00000 +00001 min07,33,18,20,204,38*7A $GPGSV,3,3,11dr maxdr maxa dead: +00030 +00200 ,16,18,318,33,05,1 7,185,38,12,08,173,37*43 $GPRMC,103126.400,A,4046.008183,N,11913.671947,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: target cur$GPGGA,103126.600rent -00003 +00003 Gain: Kp Kd Ki ,4046.008182,N,11913.671946,W,1,10,0.+00015 +00000 +00001 mindr maxdr m90,1184.725,M,-20.833,M,,*69 $GPRMCaxa dead: +00030 +00200 +00255 +00,103126.600,A,4046.008182,N,11913.671946,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103126.800,4046.008181,N,11913.671945,W,1,10,0.90,1184.726,M,-20.833,M,,*64 $GPRMC,103126.800,A,4046.008181,N,11913.671945,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: target current -00003 +00002 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103127.000,4046.008180,N,11913.671947,W,1,10,0.90,1184.726,M,-20.833,M,,*6E $GPRMC,Motor1: +00000 +00000 +00000 103127.000,A,4046.008180,N,11913.6719 PID: +00008 +00010 +00004 ISav: +47,W,0.001,48.55, Steer: -1 040707,,,A*75 $GPV00000 encoderSpeed: +00000 currTG,48.55,T,,M,0.001,N,0.002,K,A*02 entSense: -00010 Velocity Steer: target current -00003 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Stee Steer: -5 r: target current -00003 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +002$GPGGA,103127.200,4046.008181,N,11913.671948,W,1,10,0.90,1184.726,M,-20.833,M,,*62 $GPRMC,103127.200,A,4046.008181,N,11913.671948,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Steer: -7 Steer: -00005 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00011 Velocity Steer: target current -00005 +00 Steer: -9 002 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Mo$GPGGA,tor1: +00000 +00000 +00000 PID: +103127.400,4046.008181,N,11913.67194800008 +00010 +00004 ISav: +00000 ,W,1,10,0.90,1184.725,M,-20.833,M,,* encoderSpeed: +00000 currentSens67 $GPGSA,A,3,10,16,18,21,30,07,12,2e: -00011 Veloci ty Steer: -13 Steer: target 9,05,06,,,1.58,0.90,1.30*06 $GPGSV,3current -00005 +00003 Gain: Kp Kd K,1,11,06,86,343,29,07,75,313,28,24,74i +00015 +00000 +00001 mindr maxd,355,17,21,48,274,37*78 $GPGSV,3,2,r maxa dead: +00030 +00200 +00255 11,10,37,049,38,30,30,196,40,29,22,10+00010 Steer: -00007 Motor1: +06,34,18,20,204,38*7C $GPGSV,3,3,11,16,18,318,34,05,17,185,3 8,12 Steer: -17 ,08,173,37*44 $GPRMC,103127.400,A,4046.008181,N,11913.671948,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 0000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00010 Velocity Steer: target current -00007 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa d$GPGGA,1031 27.6 Steer: -18 00,ead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00009 Velocity Steer: target current -00007 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr m4046.008181,N,11913.671948,W,1,10,0.9axdr maxa dead: +00030 +00200 +0020,1184.724,M,-20.833,M,,*64 $GPRMC,55 +00010 Ste er: Steer: -17 -00009 Motor1: 103127.600,A,4046.008181,N,11913.671948,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00007 Velocity Steer: target current -00009 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +000 10 Steer: -13 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00007 Velocity Steer: target current -00009 +00003 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: -00017 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc$GPGGA,103127.800,oderSpe ed: Steer: -1 +00000 currentSense: -4046.008180,N,11913.671949,W,1,10,0.900003 Velocity Steer: target curr0,1184.724,M,-20.833,M,,*6A $GPRMC,1ent -00017 +00002 Gain: Kp Kd Ki +03127.800,A,4046.008180,N,11913.671949,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +0000 0 +0 Steer: 12 0000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00000 Velocity Steer: target current -00017 -00001 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: -00018 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 IS av: Steer: 17 +00000 encoderSpeed: +00000 currentSense: +00003 Velocity Steer: target current -00018 -00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +$GPGGA,103128.000010 Motor1: +00000 +00000 +000000,4046.008179,N,11913.671950,W,1,100 PID: +00008 +00010 +00004 ISav:,0.90,1184.725,M,-20.833,M,,*62 $GPR +00000 encoderSpeed: +000 00 cuMC,103128.000,A,4046.008179,N,11913.671950,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 rrentSense: +00003 Velocity Steer: target current -00018 -00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: -00017 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc Steer: 19 oderSpeed: +00000 currentSense: +00007 Velocity Steer: target current -00017 -00007 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00010 Velocity Steer: target current -00017 -00011 Ga$GPin: Kp Kd Ki +00015 +00000 +0 0001 Steer: 24 GGA,103128.200,4046.008178,N,11913.67 mindr maxdr maxa dead: +00030 +001950,W,1,10,0.90,1184.726,M,-20.833,M200 +00255 +00010 Steer: -00013 ,,*62 $GPRMC,103128.200,A,4046.008178,N,11913.671950,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur rent Steer: 27 Sense: +00013 Velocity Steeaxdr max55 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00013 Velocity Steer: target current -00013 -00015 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: +00012 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +0 0004 Steer: 28 ISav: +00$GPGG000 encoderSpeed: +00000 currenA,103128.400,4046.008176,N,11913.6719tSense: +00016 Velocity49,W,1,10,0.90,1184.728,M,-20.833,M,,rget current +00012 -00016 Gain: Kp*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,343,29,07,75,313,28,24,74,355,18,21,48,274,37*77 $GPGSV,3,2,11,10,37,049,38,30,30,196,40,29,22,106 ,34, Steer: 30 18,20,204,38*7C $GPGSV,3,3 Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00019 Velocity1,16,18,318,34,05,17,185,38,12,08,173,36*45 Steer: target current +00012 -00019 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr ma xa dead: +00030 +00200 +00255 +00010 Steer: +00017 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,$GPRMC,103128.600,A,4046.0080000 currentSense: +00019 Veloci13.671949,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 ty Steer: target current +00017 -00020 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 MrSpeed: +00019 Velocity Steer: target current +00017 -00019 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: +00019 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00017 Velocity Stee Steer: 32 r: target current +00019 $GPGGA,103128.800,4-00017 Gain: Kp Kd Ki +00015 +0000046.008175,N,11913.671949,W,1,10,0.900 +00001,1184.730,M,-20.833,M,,*6A $GPRMC03128.800,A,4046.008175,N,11913.6719: +00000 +00000 +00000 PID: +000049,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 8 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00017 Ve loci ty Steer: target current +00019 -00017 Gain: Kp Kd Ki +00015 +0010 St +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00014 Velocity Steer: target current +00024 -00014 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 Steer: 16 ISav: +00000 e$GPGGA,103129.000,4046.ncoderSpeed: +00000 currentSense:008174,N,11913.671949,W,1,10,0.90,118 +00004.730,M,-20.833,M,,*62 $GPRMC,103rrent +00024 -00008 Gain: Kp Kd Ki 9.000,A,4046.008174,N,11913.671949,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: + 0003 Steer: 12 0 Motor1: +00000 +00000 + Velocit0030 -00002 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00004 Velocity Steer: target current +00030 -00002 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00 Steer: 11 200 +00255$GPGGA,103129.200,4046. +00010 Motor1: +00000 +00000 +00008174,N,11913.671950,W,1,10,0.90,118000 P4.730,M,-20.833,M,,*68 $GPRMC,10312v: +00000 encoderSpeed: +00000 currentSense: +00000 Velocity Steer: target current +00030 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +0000 0 P ID: +00008 +00010 +9.200,00004 I +00000 currentSense: +00000 Velocity Steer: target current +00030 +00004 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: +00032 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00007 Velocity Steer: target curr ent +00032 +00011 $GPGGA,103129Gain: Kp Kd Ki +00015 +00000 +0000.400,4046.008174,N,11913.671949,W,1,1 mindr maxdr max10,0.90,1184.730,M,-20.833,M,,*66 0PGSA,A,3,10,16,18,21,30,07,12,29,05,00 +00000 +00000 PID: +00008 +000106,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,344,29,07,75,313,28,24,74,355,18,21,48,274,37*70 $GPGSV,3,2,11,10,37,049,38,30,30,196,40,29,22,106,34,18,20, 204,38*7C $GPGSV,3,3,11,16,18,318,34,05,17,185,38,12,08,173,36*45 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00032 +00020 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPRMC,103129.400,A,4046.008174,N,11913.67194Steer: +00012 Motor1: +00000 +00000 +00000 PID: +0 0008 +00010 +00004 ISav: +00$GPGGA,103129.600,40000 encoderSpeed: +00000 46.008174,N,11913.671948,W,1,10,0.90tSen,1184.730,M,-20.833,M,,*65 $GPRMCarget current +00012 +00052 Gain: K3129.600,A,4046.008174,N,11913.671948,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 52 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Steer: +00011 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00052 Velocity Steer: target current +00011 +00051 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0 0030 +00200$GPGGA,103129.800,40 +00255 +00010 Motor1: +00000 +0046.008173,N,11913.671947,W,1,10,0.90,000 +00000 1184.732,M,-20.833,M,,*61 $GPRMC,04 ISav: +00000 encoderSpeed: +03129.800,A,4046.008173,N,11913.671947,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 0000 currentSense: -00052 Velocity Steer: target current +00011 +00051 Gain: Kp Kd Ki +00015 +00000 +0000+00010 +erSpeed: +00000 currentSense: -00046 Velocity Steer: target current +00011 +00046 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00046 Velocity Steer: target current +00011 +0004 6 Gain: Kp$GPGGA,103130.000,40 Kd Ki +00015 +00000 +00001 mindr46.008172,N,11913.671947,W,1,10,0.90, maxdr maxa 1184.733,M,-20.833,M,,*61 $GPRMC,0255130.000,A,4046.008172,N,11913.671947 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00037 Velocity Steer: target current +00011 +00038 Gain: Kp Kd Ki +00015 +00000 +00001 mindr ma xdr maxa dead: +00030 +00200 +00255 +00010 ,W,0.001,48.55,0Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00013 Velocity Steer: target current +00011 -00020 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103130.200,4046.008170,N,11913.671947,W,1,10,0.90,1184.7 34,M,-20.833,M,,*66 $GPRMC,103Motor1: +00000 +00000 +00000 130.200,A,4046.008170,N,11913.671947 PID: +00008 +00010 +00004 ISav: ,W,0.001,48.55,040707,,,A*7E $GPVTG,+00000 encoderSpeed: +00000 cur48.55,T,,M,0.001,N,0.002,K,A*02 rentSense: +00012 target current +00011 -00019 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: +00002 Velocity Steer: target current +00011 -00016 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103130.400,4046.008169,N,11913.671949,W,1,10,0.90,1184.734,M,-20.833,M,,*66 Motor1: +00000 +00000 +00000 $GPGSA,A,3,10,16,18,21,30,07,12,29,0PID: +00008 +00010 +00004 ISav: +05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,0000 encoderSpeed: +00000 curr11,06,86,344,29,07,75,313,28,24,74,3entSense: +00000 Velocity Steer: 55,18,21,48,274,37*70 $GPGSV,3,2,11,target current +00011 -00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 10 ,37,049,37,30,30,196,40,29,22,106,34,18,20,204,38*73 $GPGSV,3,3,11,16,18,318,34,05,17,185,38,12,08,173,36*45 $GPRMC,103130.400,A,4046.008169,N,11913.671949,W,0.001,48.55,0407071,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 -00006 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr m$GPGGA,103130.600,40axa dead: +00030 +0020046.008168,N,11913.671949,W,1,10,0.90,0101184.734,M,-20.833,M,,*65 $GPRMC,130.600,A,4046.008168,N,11913.671949,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103130.800,4046.008167,N,11913.671949,W,1,10,0.90,1184.734,M,-20.833,M,,*64 $GPRMC,103Motor1: +00000 +00000 +00000 130.800,A,4046.008167,N,11913.671949 PID: +00008 +00010 +00004 ISav: +,W,0.000,48.55,040707,,,A*7D $GPVTG,00000 encoderSpeed: +00000 curr48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00011 Velocity Steer: target current +00011 +00006 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +0 0010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00006 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103131.000,4046.008166,N,11913.671950,W,1,10,0.90,1184.735,M,-20.833,M,,*65 $GPRMC,Motor1: +00000 +00000 +00000 103131.000,A,4046.008166,N,11913.6719 PID: + 00008 +00010 +00004 ISav: +50,W,0.000,48.55,040707,,,A*7D $GPV00000 encoderSpeed: +00000 currTG,48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00013 Velocity Steer: target current +00011 +00012 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSp eed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +00012 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103131.200,4046.008166,N,11913.671950,W,1,10,0.90,1184.738,M,-20.833,M,,*6A $GPRMC,103Motor1: +00000 +00000 +00000 131.200,A,4046.008166,N,11913.671950PID: +00008 +00010 +00004 ISav: +,W,0.001 ,48.55,040707,,,A*7E $GPVTG,00000 encoderSpeed: +00000 curr48.55,T,,M,0.001,N,0.002,K,A*02 entSense: -00013 Velocity Steer: target current +00011 +00005 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103131.400,4046.008165,N,11913.671950,W,1,10,0.90,1184.740,M,-20.833,M,,*60 Motor1: +00000 +00000 +00000 $GPGSA ,A,3,10,16,18,21,30,07,12,29,05 PID: +00008 +00010 +00004 ISav: +,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,00000 encoderSpeed: +00000 curr11,06,86,344,29,07,75,313,27,24,74,3entSense: -00010 Velocity Steer: 55,18,21,48,274,37*7F $GPGSV,3,2,11,target current +00011 +00009 Gain: 10,37,049,37,30,30,196,40,29,22,106,3Kp Kd Ki +00015 +00000 +00001 min4,18,20,204,38*73 $G PGSV,3,3,11,16,1dr maxdr maxa dead: +00030 +00200 8,318,34,05,17,185,37,12,08,173,36*4A $GPRMC,103131.400,A,4046.008165,N,11913.671950,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target cur$GPGGA ,103131.600,404rent +00011 +00011 Gain: Kp Kd Ki 6.008164,N,11913.671947,W,1,10,0.90,1+00015 +00000 +00001 mindr maxdr m184.742,M,-20.833,M,,*67 $GPRMC,1031axa dead: +00030 +00200 +00255 +0031.600,A,4046.008164,N,11913.671947,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103131.800,4046.008163,N,11913.671945,W,1,10,0.90,1184.743,M,-20.833,M,,*6D $GPRMC,103131.800,A,4046.008163,N,11913.671945,W,0.Motor1: +00000 +00000 +00000 001,48.55,040707,,,A*75 $GPVTG,48.55 PID: +00008 +00010 +00004 ISav: +,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense : -00017 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103132.000,4046.008162,N,11913.671944,W,1,10,0.90,1184.745,M,-20.833,M,,*60 $GPRMC,1031Motor1: +00000 +00000 +00000 32.000,A,4046.008162,N,11913.671944, PID: +00008 +00010 +00004 ISav: +W,0.001,48.55,040707,,,A*7E $GP VTG,400000 encoderSpeed: +00000 curr8.55,T,,M,0.001,N,0.001,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu rrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103132.200,4046.008161,N,11913.671944,W,1,10,0.90,1184.747,M,-20.833,M,,*63 $GPRMC,103132.2Motor1: +00000 +00000 +00000 00,A,4046.008161,N,11913.671944,W,0.0 PID: +00008 +00010 +00004 ISav: +00,48.55,040707,,,A*7E $GPVTG,48.55,00 000 encoderSpeed: +00000 currT,,M,0.000,N,0.000,K,A*01 entSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00 009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 2.400,4046.008161,N,11913.671944,W,1,10,0.90,1184.748,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,344,29,07,75,313,27,24,74,355,18,21,48,274,37*7F $GPGSV ,3,2,11,10,37,049,37,30,30,196,40,29,22,106,34,18,20,204,38*73 $GPGSV,3,3,11,16,18,318,33,05,17,185,37,12,08,173,37*4C $GPRMC,103132.400,A,4046.008161,N,11913.671944,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,Motor1: +00000 +00000 +00000 K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00017 Velocity Ste er: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103132.600,4046.008161,N,11913.671944,W,1,10,0.90,1184.751,M,-20.833,M,,*60 $GPRMC,10313Motor1: +00000 +00000 +00000 2.600,A,4046.008161,N,11913.671944,WPID: +00008 +00010 +00004 ISav: +,0.001,48.55,040707,,,A*7B $GPVTG,4800000 encoderSpeed: +00000 curr.55,T,,M,0.001,N,0.001,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1 : +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103132.800,4046010 .008160,N,11913.671945,W,1,10,0.90,1184.752,M,-20.833,M,,*6D $GPRMC,103132.800,A,4046.008160,N,11913.6 71945,WMotor1: +00000 +00000 +00000 ,0.000,48.55,040707,,,A*74 $GPVTG,48PID: +00008 +00010 +00004 ISav: +0.55,T,,M,0.000,N,0.000,K,A*01 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +0 0010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103133.000,4046.+00255 +00010 008160,N,11913.671945,W,1,10,0.90,1184.755,M,-20.833,M,,*63 $GPRMC,103133.000,A,4046.008160,N,11913.67 1945,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Ste er: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103133.200,4046.+00255 +00010 008159,N,11913.671945,W,1,10,0.90,1184.756,M,-20.833,M,,*68 $GPRMC,103133.200,A,4046.008159,N,11913.671945,WMotor1: +00000 +00000 +00000 ,0.000,48.55,040707,,,A*75 $GPVTG,48PID: +00008 +00010 +00004 ISav: +.55,T,,M ,0.000,N,0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +000 11 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103133+00255 +00010 .400,4046.008156,N,11913.671944,W,1,10,0.90,1184.758,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,12,29,05,0Motor1: +00000 +00000 +00000 6,,,1.58,0.90,1.30*06 $GPGSV,3,1,11 PID: +00008 +00010 +00004 ISav: ,06,86, 344,29,07,75,313,27,24,74,355+00000 encoderSpeed: +00000 cur,18,21,48,274,37*7F $GPGSV,3,2,11,10rentSense: -00015 Velocity Steer: ,37,049,37,30,30,196,40,29,22,106,34,target current +00011 +00010 Gain:18,20,204,38*73 $GPGSV,3,3,11,16,18 Kp Kd Ki +00015 +00000 +00001 mi,318,33,05,17,185,37,12,08,173,37*4C ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPRMC,103133.400,A,4046.008156,N,11913.671944,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSens$GPGGA,103133.600,4046.e: -00016 Velocity Steer: target 008154,N,11913.671943,W,1,10,0.90,118current +000 11 +00011 Gain: Kp Kd K4.761,M,-20.833,M,,*63 $GPRMC,10313i +00015 +00000 +00001 mindr maxd3.600,A,4046.008154,N,11913.671943,W,0.002,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 r maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGG A,103133.800,4046.+00255 +00010 008153,N,11913.671941,W,1,10,0.90,1184.762,M,-20.833,M,,*6B $GPRMC,103133.800,A,4046.008153,N,11913.671941,W,Motor1: +00000 +00000 +00000 0.001,48.55,040707,,,A*70 $GPVTG,48.PID: +00008 +00010 +00004 ISav: +055,T,,M,0.001,N,0.002,K,A*02 0000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103134.000,4046.+00255 +00010 008153,N,11913.671941,W,1,10,0.90,1184.764,M,-20.833,M,,*62 $GPRMC,103134.000,A,4046.008153,N,11913.671941,W,Motor1: +00000 +00000 +00000 0.000,48.55,040707,,,A*7E $GPVTG,48.PID: +00008 +00010 +00004 ISav: +055,T,,M,0.000,N,0.000,K,A*01 0000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +0 0010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 0,4046.008153,N,11913.671941,W,1,10,0.90,1184.766,M,-20.833,M,,*62 $GPRMC,103134.200,A,4046.008153,N,11913.671941,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gai n: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103134.400+00255 +00010 ,4046.008153,N,11913.671942,W,1,10,0.90,1184.768,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,Motor1: +00000 +00000 +00000 1.58,0.90,1.30*06 $GPGSV,3,1,11,06,8PID: +00008 +00010 +00004 ISav: +6,344,29,07,7 5,313,27,24,74,355,19,200000 encoderSpeed: +00000 curr1,48,274,37*7E $GPGSV,3,2,11,10,37,0entSense: -00015 Velocity Steer: 49,37,30,30,196,40,29,22,106,34,18,2target current +00011 +00011 Gain: 0,204,37*7C $GPGSV,3,3,11,16,18,318,Kp Kd Ki +00015 +00000 +00001 min34,05,17,185,36,12,08,173,36*4B $GPRMC,103134.400,A, 4046.008153,N,11913.671942,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103134.600,4046.0rent +00011 +00011 Gain: Kp Kd Ki 08153,N,11913.671943,W, 1,10,0.90,1184+00015 +00000 +00001 mindr maxdr m.770,M,-20.833,M,,*63 $GPRMC,103134axa dead: +00030 +00200 +00255 +00.600,A,4046.008153,N,11913.671943,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpee d: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103134.800,4046.008152,N,11913.671942,W,1,10,0.90,1184.772,M,-20.833,M,,*6F $GPRMC,103134.800,A,4046.008152,N,11913.671942,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103135.000,4046.0+00255 +00010 08150,N,11913.671942,W,1,10,0.90,1184.775,M,-20.833,M,,*63 $GPRMC,103135.000,A,4046.008150,N,11913.671942,W,0Motor1: +00000 +00000 +00000 .001,48.55,040707,,,A*7E $GPVTG,48.5PID: +00008 +00010 +00004 ISav: +5,T,,M,0.001,N,0 .001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103135.200,4046.008149,N,11913.671941,W,1,10,0.90,1184.776,M,-20.833,M,,*69 $GPRMC,103135.200,A,4046.008149,N,11913.671941,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103135.4+00255 +00010 00,4046.008148,N,11913.671939,W,1,10,0.90,1184.778,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06Motor1: +00000 +00000 +00000 ,,,1.58,0.90,1.30*06 $GPGSV,3,1,11, PID: +00008 +00010 +00004 ISav: +06,86,344,30,07, 75,313,27,24,74,355,200000 encoderSpeed: +00000 curr0,21,48,274,37*7C $GPGSV,3,2,11,10,3entSense: -00017 Velocity Steer: 7,049,38,30,30,196,40,29,22,106,34,18target current +00011 +00009 Gain: ,20,204,37*73 $GPGSV,3,3,11,16,18,3Kp Kd Ki +00015 +00000 +00001 min18,34,05,17,185,36,12,08,173,36*4B $dr maxdr maxa dead: +00030 +00200 +00255 +00010 GPRMC,103135.400,A,4046.008148,N,11913.671939,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103135.600,4046.00-00014 Velocity Steer: target cur8147,N,11913.671937,W,1,10,0.90,1184.rent +00011 +00010 G ain: Kp Kd Ki 780,M,-20.833,M,,*6B $GPRMC,103135.+00015 +00000 +00001 mindr maxdr m600,A,4046.008147,N,11913.671937,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: t arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103135.800, 4046.00 +00255 +00010 8146,N,11913.671937,W,1,10,0.90,1184.782,M,-20.833,M,,*66 $GPRMC,103135.800,A,4046.008146,N,11913.671937,W,0.Motor1: +00000 +00000 +00000 001,48.55,040707,,,A*73 $GPVTG,48.55 PID: +00008 +00010 +00004 ISav: +,T,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103136.000,4046.00+00255 +00010 8147,N,11913. 671939,W,1,10,0.90,1184.780,M,-20.833,M,,*60 $GPRMC,103136.000,A,4046.008147,N,11913.671939,W,0.Motor1: +00000 +00000 +00000 001,48.55,040707,,,A*77 $GPVTG,48.55PID: +00008 +00010 +00004 ISav: +0,T,,M,0.001,N,0.002,K,A*02 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 8147,N,11913.671941,W,1,10,0.90,1184.780,M,-20.833,M,,*6D $GPRMC,103136.200,A,4046.008147,N,11913.671941,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur rent +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103136.4+00255 +00010 00,4046.008147,N,11913.671943,W,1,10,0.90,1184.781,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,344,30,07,75,313,27,24,74,355,20,21,48,274,37*7C $GPGSV,3,2,11,10,37,049,38, 30,30,196,40,29,22,106,34,18,20,204,37*73 $GPGSV,3,3,11,16,18,318,32,05,17,185,36,12,08,173,36*4D $GPRMC,103136.400,A,4046.008147,N,11913.671943,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur rent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103136.600,4046.008+00255 +00010 147,N,11913.671943,W,1,10,0.90,1184.783,M,-20.833,M,,*68 $GPRMC,103136.600,A,4046.008147,N,11913.671943,W,0.Motor1: +00000 +00000 +00000 000,48.55,040707,,,A*7D $GPVTG,48.55 PID: +00008 +00010 +00004 ISav: +,T,,M,0.000,N,0.000, K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +0000 0 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103136.800,4046.008+00255 +00010 145,N,11913.671942,W,1,10,0.90,1184.786,M,-20.833,M,,*60 $GPRMC,103136.800,A,4046.008145,N,11913.671942,W,0.0Motor 1: +00000 +00000 +00000 00,48.55,040707,,,A*70 $GPVTG,48.55 PID: +00008 +00010 +00004 ISav: ,T,,M,0.000,N,0.001,K,A*00 +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 I Sav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103137.000,4046.+00255 +00010 008145,N,11913.671941,W,1,10,0.90,1184.789,M,-20.833,M,,*65 $GPRMC,103137.000,A,4046.008145,N,11913.671941,WMotor1: +00000 +00000 +00000 ,0.001,48.55,0 40707,,,A*7B $GPVTG,48PID: +00008 +00010 +00004 ISav: +.55,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103137.200,4046.008144,N,11913.671941,W,1,10,0.90,1184.794,M,-20.833,M,,*6A $GPRMC,103137.200,A,4046.008144,N,11913.6719Motor1: +00000 +00000 +00000 41,W,0.000,48.55,040707,,,A*79 $GPVT PID: +00008 +00010 +00004 ISav: +G,48.55,T,,M,0.000,N,0.0 01,K,A*00 00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 .400,4046.008143,N,11913.671941,W,1,10,0.90,1184.796,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,344,30,07,75,313,26,24,74,355,19,21,48,274,37*77 $GPGSV,3,2,11,10,37,049,38,30,3 0,196,40,29,22,106,34,18,20,204,37*73 $GPGSV,3,3,11,16,18,318,31,05,17,185,36,12,08,173,37*4F $GPRMC,103137.400,A,4046.008143,N,11913.671941,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103137.600,4046.0081+00255 +00010 43,N,11913.671940,W,1,10,0.90,1184.801,M,-20.833,M,,*6B $GPRMC,103137.600,A,4046.008143,N,11913.671940,W,0.0Motor1: +00000 +00000 +00000 01,48.55,040707,,,A*7A $GPVTG,48.55,PID: +00008 +00010 +00004 ISav: +T,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103137.800,4046.008143,N+00255 +00010 ,11913.671939,W,1,10,0.90,1184.803,M,-20.833,M,,*69 $GPRMC,103137.800,A,4046.008143,N,11913.671939,W,0.001,48Mo tor1: +00000 +00000 +00000 .55,040707,,,A*7A $GPVTG,48.55,T,,MPID: +00008 +00010 +00004 ISav: +0,0.001,N,0.001,K,A*01 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103138.000,40 +00255 +00010 46.008143,N,11913.671941,W,1,10,0.90,1184.803,M,-20.833,M,,*61 $GPRMC,103138.000,A,4046.008143,N,11913.67194Motor1: +00000 +00000 +00000 1,W,0.001,48.55,040707,,,A *72 $GPVTG PID: +00008 +00010 +00004 ISav: ,48.55,T,,M,0.001,N,0.002,K,A*02 +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103138.200,4046.008144,N,11913.671942,W,1,10,0.90,1184.803,M,-20.833,M,,*67 $GPRMC,103138.200,A,4046.008144,N,11913.671942,W,0.00Motor1: +00000 +00000 +00000 1,48.55,040707,,,A*74 $GPVTG,48.55,TPID: +00008 +00010 +00004 ISav: +0,,M,0.001,N,0.002,K,A*02 0 000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +000 15 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 ,4046.008144,N,11913.671942,W,1,10,0.90,1184.803,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,344,29,07,75,313,26,24,74,355,17,21,48,274,37*71 $GPGSV,3,2,11,10,37,049,38,30,30,196, 40,29,22,106,35,18,21,204,37*73 $GPGSV,3,3,11,16,18,318,31,05,17,185,36,12,08,173,37*4F $GPRMC,103138.400,A,4046.008144,N,11913.671942,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00 011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103138.600,4046.00814+00255 +00010 5,N,11913.671941,W,1,10,0.90,1184.804,M,-20.833,M,,*66 $GPRMC,103138.600,A,4046.008145,N,11913.671941,W,0.00Motor1: +00000 +00000 +00000 0,48.55,040707,,,A*73 $GPVTG,48.55,T PID: +00008 +00010 +00004 ISav: +,,M,0.000,N,0.000,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103138.800,4046.00814+00255 +00010 3,N,11913.671941,W,1,10,0.90,1184.806,M,-20.833,M,,*6C $GPRMC,103138.800,A,4046.008143,N,11913.671941,W,0.00Motor1: +00 000 +00000 +00000 1,48.55,040707,,,A*7A $GPVTG,48.55,TPID: +00008 +00010 +00004 ISav: +,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00 000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103139.000,4046.00+00255 +00010 8140,N,11913.671941,W,1,10,0.90,1184.809,M,-20.833,M,,*69 $GPRMC,103139.000,A,4046.008140,N,11913.671941,W,0Motor1: +00000 +00000 +00000 .000,48.55,040707,,,A*7 1 $GPVTG,48.5 PID: +00008 +00010 +00004 ISav: +5,T,,M,0.000,N,0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103139.200,4046.008137,N,11913.671940,W,1,10,0.90,1184.811,M,-20.833,M,,*63 $GPRMC,103139.200,A,4046.008137,N,11913.671940,W,0.002Motor1: +00000 +00000 +00000 ,48.55,040707,,,A*70 $GPVTG,48.55,T, PID: +00008 +00010 +00004 ISav: +,M,0.002,N,0.003,K,A*00 00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00 000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103139.400+00255 +00010 ,4046.008134,N,11913.671939,W,1,10,0.90,1184.814,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1Motor1: +00000 +00000 +00000 .58,0.90,1.30*06 $GPGSV,3,1,11,06,8 PID: +00008 +00010 +00004 ISav: +6,344,28,07,75,313,27,24,74,355,16,2 100000 encoderSpeed: +00000 curr,48,274,37*70 $GPGSV,3,2,11,10,37,04entSense: -00015 Velocity Steer: 9,38,30,30,196,40,29,22,106,35,18,21target current +00011 +00010 Gain: ,204,37*73 $GPGSV,3,3,11,16,18,318,3Kp Kd Ki +00015 +00000 +00001 min2,05,17,185,37,12,08,173,34*4E $GPRMC,103139.400,A,4046.008134,N,11913.671 939,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target cur$GPGGA,103139.600,4046.00813rent +00011 +00010 Gain: Kp Kd Ki 3,N,11913.671939,W,1,10,0.90,1184.81+00015 +00000 +00001 mindr maxdr m4,M,-20.833,M,,*68 $GPRMC,103139.600axa dead: +00030 +00200 +00255 +00,A,4046.008133,N,11913.671939,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00011 Gai n: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103139.800,4046.008133+00255 +00010 ,N,1 1913.671939,W,1,10,0.90,1184.814,M,-20.833,M,,*66 $GPRMC,103139.800,A,4046.008133,N,11913.671939,W,0.000Motor1: +00000 +00000 +00000 ,48.55,040707,,,A*72 $GPVTG,48.55,T,PID: +00008 +00010 +00004 ISav: +,M,0.000,N,0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103140.000,4046.008132,N,11913.671939,W,1,10,0.90,1184.814,M,-20.833,M,,*61 $GPRMC,103140.000,A,4046.008132,N,11913.671939,W,0.Motor1: +00000 +00000 +00000 000,48.55,040707,,,A*75 $GPVTG,48.55 PID: +00008 +00010 +00004 ISav: +,T,,M,0.000,N,0.000,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +0000 0 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103140.200,4046.008+00255 +00010 131,N,11913.671938,W,1,10,0.90,1184.813,M,-20.833,M,,*66 $GPRMC,103140.200,A,4046.008131,N,11913.671938,W,0.Motor1: +00000 +00000 +00000001,48.55,040707,,,A*74 $GPVTG,48.55 PID: +00008 +00010 +00004 ISav: ,T,,M,0.001,N,0.001,K,A*01 +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 10 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103140.400,4046. +00255 +00010 008130,N,11913.671938,W,1,10,0.90,1184.812,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,Motor1: +00000 +00000 +00000 0.90,1.30*06 $GPGSV,3,1,11,06,86,344PID: +00008 +00010 +00004 ISav: +,28,07,75,313,28,24,74,355,16,21,48,200000 encoderSpeed: +00000 curr74,37*7F $GPGSV,3,2,11,10,37,049,38entSense: -00014 Velocity Steer: ,30,30,196,40,29,22,106,35,18,21,204,target current +00011 +00008 Gain: 38*7C $GPGSV,3,3,11,16,18,318,32,05,Kp Kd Ki +00015 +00000 +00001 min17,185,37,12,08,173,32*48 $GPRMC,103140.400,A,4046.008130,N,11913.671938,W,0.001 ,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGA,103140.600,4046.008128,rent +00011 +00010 Gain: Kp Kd Ki N,11913.671938,W,1,10,0.90,1184.810,+00015 +00000 +0 0001 mindr maxdr mM,-20.833,M,,*69 $GPRMC,103140.600,axa dead: +00030 +00200 +00255 +00A,4046.008128,N,11913.671938,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103140.800,4046.008127,N,1+00255 +00010 1913.6 71939,W,1,10,0.90,1184.809,M,-20.833,M,,*61 $GPRMC,103140.800,A,4046.008127,N,11913.671939,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.Motor1: +00000 +00000 +00000 001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +0001 1 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103141.000,4046.008126,N,11913.671939,W,1,10,0.90,1184.807,M,-20.833,M,,*67 $GPRMC,103141.000,A,4046.008126,N,11913.671939,W,0.001,Motor1: +00000 +00000 +00000 48.55,040707,,,A*70 $GPVTG,48.55,T,,PID: +00008 +00010 +00004 ISav: +M,0.001,N,0.001,K,A*01 00000 en coderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 10 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103141.200,4046.008125,dr maxdr maxa dead: +00030 +00200 N,11913.671940,W,1,10,0.90,1184.806,+00255 +00010 M,-20.833,M,,*69 $GPRMC,103141.200,A,4046.008125,N,11913.671940,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,Motor1: +00000 +00000 +00000 M,0.001,N,0.002,K,A*02 PID: +00008 + 00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 10 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103141.400,4dr maxdr maxa dead: +00030 +00200 046.008123,N,11913.671941,W,1,10,0.90+00255 +00010 ,1184.804,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,Motor1: +00000 +00000 +00000 344,28,07,75,313,27,24,74,355,17,21,4PID: +0000 8 +00010 +00004 ISav: +8,274,37*71 $GPGSV,3,2,11,10,37,049,00000 encoderSpeed: +00000 curr38,30,30,196,40,29,22,106,35,18,21,2entSense: -00015 Velocity Steer: 04,38*7C $GPGSV,3,3,11,16,18,318,32,target current +00011 +00011 Gain: 05,17,185,37,12,08,173,30*4A $GPRMC,103141.400,A,4046.008123,N,11913.671941,W,0.001, 48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103141.600,4046.008122,rent +00011 +00009 Gain: Kp Kd Ki N,11913.671943,W, 1,10,0.90,1184.800,+00015 +00000 +00001 mindr maxdr mM,-20.833,M,,*6F $GPRMC,103141.600,Aaxa dead: +00030 +00200 +00255 +00,4046.008122,N,11913.671943,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curr ent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103141.800,4046.008122,entSense: -00014 Velocity Steer: N,11913.671944,W,1,10,0.90,1184.799,target current +00011 +00010 Gain: M,-20.833,M,,*69 $GPRMC,10314 1.800,AKp Kd Ki +00015 +00000 +00001 min,4046.008122,N,11913.671944,W,0.000,4dr maxdr maxa dead: +00030 +00200 8.55,040707,,,A*77 $GPVTG,48.55,T,,+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00M,0.000,N,0.000,K,A*01 030 +00200 +00255 +00010 $GPGGA,103142.000,4046.008121,N,11913.671944,W,1,10,0.90,1184.799,M,-20.833,M,,*61 $GPRMC,103142.000,A,4046.008121,N,11913.671944,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,TMotor1: +00000 +00000 +00000 ,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $ GPGGA,103142.200,4046.008121,N,11913.671945,W,1,10,0.90,1184.799,M,-20.833,M,,*62 $GPRMC,103142.200,A,4046.008121,N,11913.671945,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,Motor1: +00000 +00000 +00000 M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed : +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00008 Gain : Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103142.400,40dr maxdr maxa dead: +00030 +00200 46.008121,N,11913.671945,W,1,10,0.90,+00255 +00010 1184.798,M,-20.833,M,,*65 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,3Motor1: +00000 +00000 +0000044,28,07,75,313,28,24,74,355,17,21,48 PID: +00008 +000 10 +00004 ISav: ,274,37*7E $GPGSV,3,2,11,10,37,049,+00000 encoderSpeed: +00000 cur38,30,30,196,39,29,22,106,35,18,21,2rentSense: -00015 Velocity Steer:04,38*72 $GPGSV,3,3,11,16,18,318,32, target current +00011 +00010 Gain:05,17,185,37,12,08,173,30*4A $GPRMC, Kp Kd Ki +00015 +00000 +00001 mindr maxdr max a dead: +00030 +00200 +00255 +00010 103142.400,A,4046.008121,N,11913.671945,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense$GPGGA,103142.600,4046.00811: -00015 Velocity Steer: target c9,N,11913.671947,W,1,10,0.90,1184.79urrent +00011 +00009 Gain: Kp Kd Ki7,M,-20.833,M,,*61 $GPRMC,103142.600 +00015 +00000 +00001 mindr maxdr,A,4046.008119,N,11913.671947,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpee d: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103142.800,4046.008118,N,11913.671949,W,1,10,0.90,1184.794,M,-20.833,M,,*63 $GPRMC,103142.800,A,4046.008118,N,11913.671949,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,MMotor1: +00000 +00000 +000 00 ,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103143.000,4046.008117,N,dr maxdr maxa dead: +00030 +00200 11913.671950,W,1,10,0.90,1184.792,M,+00255 +00010 -20.833,M,,*6B $GPRMC,103143.000,A,4046.008117,N,11913.671950,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,MMotor1: +00000 +00000 +00000 ,0.001,N,0.001,K,A*01 PID: +00008 + 00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103143.200,4046.008115,N,dr maxdr maxa dead: +00030 +00200 11913.671953,W,1,10,0.90,1184.791,M,+00255 +00010 -20.833,M,,*6B $GPRMC,103143.200,A,4046.008115,N,11913.671953,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,Motor1: +00000 +00000 +00000 0.001,N,0.002,K,A*02 PID: +00008 +00010 +0 0004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: ta rget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103143.400,404ndr maxdr maxa dead: +00030 +002006.008114,N,11913.671954,W,1,10,0.90,1 +00255 +00010 184.790,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,34Motor1: +00000 +00000 +00000 4,28,07,75,313,28,24,74,355,19,21,48PID: +00008 +0001 0 +00004 ISav: +,274,37*70 $GPGSV,3,2,11,10,36,049,00000 encoderSpeed: +00000 curr38,30,30,196,39,29,22,106,35,18,21,20entSense: -00015 Velocity Steer: 4,38*73 $GPGSV,3,3,11,16,18,318,31,0target current +00011 +00010 Gain: 5,17,185,37,12,08,173,32*4B $GPRMC,103143.400,A,4046.008114,N,11913.671954,W,0.000,48.55,040707, ,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103143.600,4046.008113rent +00011 +00009 Gain: Kp Kd Ki ,N,11913.671956,W,1,10,0.90,11 84.790+00015 +00000 +00001 mindr maxdr m,M,-20.833,M,,*6D $GPRMC,103143.600,axa dead: +00030 +00200 +00255 +00A,4046.008113,N,11913.671956,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +0001 1 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cu$GPGGA,103143.800,4046.008111,N,rrentSense: -00015 Velocity Stee11913.671957,W,1,10,0.90,1184.790,M,-r: target current +00011 +00011 Gai20.833,M,,*60 $GPRMC,103143.800,A,4n: K p Kd Ki +00015 +00000 +00001 046.008111,N,11913.671957,W,0.001,48.mindr maxdr maxa dead: +00030 +00255,040707,,,A*76 $GPVTG,48.55,T,,M,00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0.001,N,0.002,K,A*02 00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103144.000,4046.00dr maxdr maxa dead: +00030 +00200 8109,N,1 1913.671957,W,1,10,0.90,1184.+00255 +00010 791,M,-20.833,M,,*67 $GPRMC,103144.000,A,4046.008109,N,11913.671957,W,0.002,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: targe t current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103144.200,4046.008107,N,dr maxdr maxa dead: +00030 +00200 11913.671958,W,1,10,0.90,1184.793,M,-+00255 +00010 20.833,M,,*66 $GPRMC,103144.200,A,4046.008107,N,11913.671958,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,Motor1: +00000 +00000 +00000 0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target c urrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103144.400,4046ndr maxdr maxa dead: +00030 +00200.008106,N,11913.671959,W,1,10,0.90,11 +00255 +00010 84.795,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,34Motor1: +00000 +00000 +00000 4,28,07,75,313,28,24,74,355,19,21,48,PID: +00008 +00010 +000 04 ISav: +274,37*70 $GPGSV,3,2,11,10,36,049,300000 encoderSpeed: +00000 curr8,30,30,196,39,29,22,106,34,18,21,204entSense: -00015 Velocity Steer: ,38*72 $GPGSV,3,3,11,16,18,318,31,05target current +00011 +00010 Gain: ,17,185,37,12,08,173,32*4B $GPRMC,103144.400,A,4046.008106,N,11913.671959,W,0.001,48.55,040707,,,A *75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGA,103144.600,4046.008104,N,rent +00011 +00009 Gain: Kp Kd Ki 11913.671959,W,1,10,0.90,1184.7 96,M,-+00015 +00000 +00001 mindr maxdr m20.833,M,,*65 $GPRMC,103144.600,A,40axa dead: +00030 +00200 +00255 +0046.008104,N,11913.671959,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +0 0009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103144.800,4046.008103,N,11913rentSense: -00016 Velocity Steer:.671959,W,1,10,0.90,1184.795,M,-20.83 target current +00011 +00009 Gain:3,M,,*6F $GPRMC,103144.800,A,4046.00 Kp Kd Ki +00015 +00000 +00001 mi8103,N,11913.671959,W,0.001,48.55,0ndr maxdr maxa dead: +00030 +0020040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103145.000,4046.008103,dr maxdr maxa dead: +000 30 +00200 N,11913.671960,W,1,10,0.90,1184.793,+00255 +00010 M,-20.833,M,,*6A $GPRMC,103145.000,A,4046.008103,N,11913.671960,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,1031 45.200,4046.008103,N,11913.671960,W,1,10,0.90,1184.792,M,-20.833,M,,*69 $GPRMC,103145.200,A,4046.008103,N,11913.671960,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0Motor1: +00000 +00000 +00000 .000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curren tSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103145.400 ,4046.008102,N,11913.671960,W,1,10,0.90,1184.792,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,344,28,0Motor1: +00000 +00000 +00000 7,75,313,28,24,74,355,18,21,48,274,3PID: +00008 +00010 +00004 ISav: +7*71 $GPGSV,3,2,11,10,36, 049,38,30,300000 encoderSpeed: +00000 curr0,196,39,29,22,106,34,18,21,204,38*72entSense: -00016 Velocity Steer: $GPGSV,3,3,11,16,18,318,31,05,17,1target current +00011 +00010 Gain: 85,37,12,08,173,32*4B $GPRMC,103145.Kp Kd Ki +00015 +00000 +00001 min400,A,4046.008102,N,11913.671960,W,0dr maxdr maxa dea d: +00030 +00200 +00255 +00010 .000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GPGGA,103145.600,4046.008101,N,11913.671960,W,1,10,0.90,1184.792,M,-20.833,M,,*6F $GPRMC,103145.600,A,4046.008101,N,11913.671960,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: $Kp Kd Ki +00015 +00000 +00001 minGPGGA,103145.800,4046.008099,N,11913.dr maxdr maxa dead: +00030 +00200 671961,W,1,10,0.90,1184.791,M,-20.83+00255 +00010 3,M,,*63 $GPRMC,103145.800,A,4046.008099,N,11913.671961,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,Motor1: +00000 +00000 +00000 N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103146.00 0,4046.008099,N,11913.671963,W,1,10,0.90,1184.789,M,-20.833,M,,*63 $GPRMC,103146.000,A,4046.008099,N,11913.671963,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00 011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103146.200,4046.0080dr maxdr maxa dead: +00030 +00200 98,N,11913.671966,W,1,10,0.90,1184.78+00255 +00010 7,M,-20.833,M,,*6B $GPRMC,103146.200,A,4046.008098,N,11913.671966,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,Motor1: +00000 +00000 +00000 T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +0 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103146.40ndr maxdr maxa dead: +00030 +002000,4046.008098,N,11913.671967,W,1,10,0 +00255 +00010 .90,1184.783,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,Motor1: +00000 +00000 +00000 86,344,29,07,75,313,28,24,74,355,18,2PID: +00008 +00010 +00004 ISav: +1, 48,274,37*70 $GPGSV,3,2,11,10,36,000000 encoderSpeed: +00000 curr49,38,30,30,196,40,29,22,106,34,18,2entSense: -00015 Velocity Steer: 1,204,38*7C $GPGSV,3,3,11,16,18,318target current +00011 +00010 Gain: ,31,05,17,185,37,12,08,173,32*4B $GPKp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +002 00 +00255 +00010 RMC,103146.400,A,4046.008098,N,11913.671967,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103146.600,4046.0080-00015 Velocity Steer: target cur97,N,11913.671969,W,1,10,0.90,1184.77rent +00011 +00010 Gain: Kp Kd Ki 9,M,-20.833,M,,*6E $GPRMC,103146.60+00015 +00000 +00001 mindr maxdr m0,A,4046.008097,N,11913.671969,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103146.800,4046.008097,N,11entSense: -00015 Velocity Steer: 913.671970,W,1,10,0.90,1184.777,M,-20target current +0 0011 +00010 Gain: .833,M,,*66 $GPRMC,103146.800,A,4046Kp Kd Ki +00015 +00000 +00001 min.008097,N,11913.671970,W,0.001,48.55dr maxdr maxa dead: +00030 +00200,040707,,,A*79 $GPVTG,48.55,T,,M,0.0 +00255 +00010 01,N,0.002,K,A*02 $GPGGA,103147.000, 4046.008097,N,11913.671972,W,1,10,0.90,1184.775,M,-20.833,M,,*6F $GPRMC,103147.000,A,4046.008097,N,11913.671972,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00010 Gain:$G Kp Kd Ki +00015 +00000 +00001 miPGGA,103147.200,4046.008098,N,11913.6ndr maxdr maxa dead: +00030 +0020071973,W,1,10,0.90,1184.774,M,-20.833, +00255 +00010 M,,*62 $GPRMC,103147.200,A,4046.008098,N,11913.671973,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,NMotor1: +00000 +00000 +00000 ,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103147.400,4046.0 08098,N,11913.671974,W,1,10,0.90,1184.773,M,-20.833,M,,*64 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,344,2Motor1: +00000 +00000 +00000 9,07,75,313,28,24,74,355,16,21,48,274 PID: +00008 +00010 +00004 ISav: +,37*7E $GPGSV,3,2,11,10,36,049,38 ,300000 encoderSpeed: +00000 curr0,30,196,40,29,22,106,34,18,21,204,38entSense: -00015 Velocity Steer: *7C $GPGSV,3,3,11,16,18,318,29,05,17target current +00011 +00010 Gain: ,185,37,12,08,173,31*41 $GPRMC,1031Kp Kd Ki +00015 +00000 +00001 min47.400,A,4046.008098,N,11913.671974,Wdr maxdr maxa dead: +00030 +00200 +0 0255 +00010 ,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,103147.600,4046.008098,N,119coderSpeed: +00000 currentSense: 13.671974,W,1,10,0.90,1184.773,M,-20.-00016 Velocity Steer: target cur833,M,,*66 $ GPRMC,103147.600,A,4046.rent +00011 +00010 Gain: Kp Kd Ki 008098,N,11913.671974,W,0.001,48.55,+00015 +00000 +00001 mindr maxdr m040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curren t +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103147.800,4046.008099,N,119dr maxdr maxa dead: +00030 +00200 13.671976,W,1,10,0.90,1184.771,M,-20.+00255 +00010 833,M,,*69 $GPRMC,103147.800,A,4046.008099,N,11913.671976,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.00Motor1: +00000 +00000 +00000 1,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +000 00 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00 000 +00001 min$GPGGA,103148.000,4046.008099,N,119dr maxdr maxa dead: +00030 +00200 13.671978,W,1,10,0.90,1184.769,M,-20.+00255 +00010 833,M,,*69 $GPRMC,103148.000,A,4046.008099,N,11913.671978,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.00Motor1: +00000 +00000 +00000 1,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 10 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103148.200,4046.008100,N,1191dr maxdr maxa dead: +00030 +00200 3.671981,W,1,10,0.90,1184.765,M,-20.+00255 +00010 833,M,,*60 $GPRMC,103148.200,A,4046.008100,N,11913.671981,W,0.002,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.00Motor1: +00000 +00000 +00000 2,N,0.003,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00 000 +00001 mi$GPGGA,103148.400,4046.008ndr maxdr maxa dead: +00030 +00200101,N,11913.671982,W,1,10,0.90,1184. +00255 +00010 764,M,-20.833,M,,*65 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,28,07,75,313,28,24,74,355,15,21,48,274Motor1: +00000 +00000 +00000 ,37*7D $GPGSV,3,2,11,10,36,049,38, 30 PID: +00008 +00010 +00004 ISav: +,30,196,40,29,22,106,35,18,21,204,38*00000 encoderSpeed: +00000 curr7D $GPGSV,3,3,11,16,18,318,29,05,17,entSense: -00016 Velocity Steer: 185,37,12,08,173,33*43 $GPRMC,10314target current +00011 +00011 Gain: 8.400,A,4046.008101,N,11913.671982,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M, 0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103148.600,4046.008102,N,1191-00015 Velocity Steer: target cur3.671985,W,1,10,0.90,1184.763,M,-20.8rent +00011 +00011 Gain: Kp Kd Ki 33,M,,*64 $G PRMC,103148.600,A,4046.0+00015 +00000 +00001 mindr maxdr m08102,N,11913.671985,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00 015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPG+00000 encoderSpeed: +00000 curGA,103148.800,4046.008102,N,11913.67rentSense: -00015 Velocity Steer:1986,W,1,10,0.90,1184.763,M,-20.833,M target current +00011 +00010 Gain:,,*69 $GPRMC,103148.800,A,4046.0081 Kp Kd Ki +00015 +00000 +00001 mi02,N,11913.671986,W,0.001,48.55,04070ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +000007,,,A*73 $GPVTG,4 8.55,T,,M,0.001,N,0.001,K,A*01 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103149.000,4046.008102,N,11913.671987,W,1,10,0.90,1184.765,M,-20.833,M,,*67 $GPRMC,103149.000,A,4046.008102,N,11913.671987,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0Motor1: +00000 +00000 +00000 .001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encode rSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00 001 mi$GPGGA,103149.200,4046.008100,ndr maxdr maxa dead: +00030 +00200N,11913.671986,W,1,10,0.90,1184.766, +00255 +00010 M,-20.833,M,,*65 $GPRMC,103149.200,A,4046.008100,N,11913.671986,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity S teer: target current +00011 +00009 Gain: $GPGGA,103149.400,4Kp Kd Ki +00015 +00000 +00001 min046.008099,N,11913.671987,W,1,10,0.90dr maxdr maxa dead: +00030 +00200 ,1184.767,M,-20.833,M,,*62 $GPGSA,A,+00255 +00010 3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,28,07,75,313,28,24,74,355,16,21,48,2 74,37*7E $GPGSV,3,2,11,10,36,049,38,30,30,196,40,29,22,106,35,18,21,204,38*7D $GPGSV,3,3,11,16,18,318,30,05,17,185,37,12,08,173,33*4B $GPRMC,103149.400,A,4046.008099,N,11913.671987,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Ve locity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103149.600,4046.0080dr maxdr maxa dead: +00030 +00200 99,N,11913.671988,W,1,10,0.90,1184.7+00255 +00010 67,M,-20.833,M,,*6F $GPRMC,103149.600,A,4046.008099,N,11913.671988,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +0 0008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103149.800,4046.008098,N,11913Kp Kd Ki +00015 +00000 +00001 min.671987,W,1,10,0.90,1184.765,M,-20.83dr maxdr maxa dead: +00030 +00200 3,M,,*6D $GPRMC,103149.800,A,4046.00+00255 +00010 8098,N,11913.671987,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00 010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103150.000,4046.008098,N,11913Kp Kd Ki +00015 +00000 +00001 min.671987,W,1,10,0.90,1184.764,M,-20.83dr maxdr maxa dead: +00030 +00200 3,M,,*6C $GPRMC,103150.000,A,4046.00+00255 +00010 8098,N,11913.671987,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00 010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGtarget current +00011 +00008 Gain: A,103150.200,4046.008097,N,11913.6719Kp Kd Ki +00015 +00000 +00001 min87,W,1,10,0.90,1184.764,M,-20.833,M,,dr maxdr maxa dead: +00030 +00200 *61 $GPRMC,103150.200,A,4046.008097+00255 +00010 ,N,11913.671987,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain:$GPGGA,103150.400,4046.008097,N, Kp Kd Ki +00015 +00000 +00001 mi11913.671988,W,1,10,0.90,1184.763,M,ndr maxdr maxa dead: +00030 +00200-20.833,M,,*6F $GPGSA,A,3, 10,16,18, +00255 +00010 21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,28,07,75,313,28,24,74,355,16,21,48,274,37*7E $GPGSV,3,2,11,10,36,049,37,30,30,196,40,29,22,106,35,18,21,204,38*72 $GPGSV,3,3,11,16,18,318,29,05,17,185,37,12,08,173,33*43 $GPRMC,103150.400,A,4046.008097,N,11913.671988,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000, K,A*01 $GPGGA,103150.600,4046.008096,N,11913.671987,W,1,10,0.90,1184.764,M,-20.833,M,,*64 $GPRMC,103150.600,A,4046.008096,N,11913.671987,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity S teer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0020$ GPGGA,103150.800,4046.008095,N,11913.671986,W,1,10,0.90,1184.765,M,-20.833,M,,*69 $GPRMC,103150.800,A,4046.008095,N,11913.671986,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity St eer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$ GPGGA,103151.000,4046.008094,N,11913.671986,W,1,10,0.90,1184.764,M,-20.833,M,,*60 $GPRMC,103151.000,A,4046.008094,N,11913.671986,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00012 Velocity Steer : target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$ GPGGA,103151.200,4046.008094,N,11913.671986,W,1,10,0.90,1184.764,M,-20.833,M,,*62 $GPRMC,103151.200,A,4046.008094,N,11913.671986,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103151.400,4046.008095,N, Kp Kd Ki +00015 +00000 +00001 mi11913.671987,W,1,10,0.90,1184.762,M,-ndr maxdr maxa dead: +00030 +0020020.833,M,,*62 $GPGSA,A,3,10,16,18,21 +00255 +00010 ,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,28,07,75,313,28,24,74,355,16,21,48,274,37* 7E $GPGSV,3,2,11,10,36,049,37,30,30,196,40,29,22,106,34,18,21,204,38*73 $GPGSV,3,3,11,16,18,318,29,05,17,185,37,12,08,173,33*43 $GPRMC,103151.400,A,4046.008095,N,11913.671987,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$G target current +00011 +00010 Gain:PGGA,103151.600,4046.008095,N,11913.6 Kp Kd Ki +00015 +00000 +00001 mi71989,W,1,10,0.90,1184.760,M,-20.833,ndr maxdr maxa dead: +00030 +00200M,,*6C $GPRMC,103151.600,A,4046.008 +00255 +00010 095,N,11913.671989,W,0.001,48.55,040 707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: $GPGGAtarget current +00011 +00009 Gain: ,103151.800,4046.008095,N,11913.67199Kp Kd Ki +00015 +00000 +00001 min0,W,1,10,0.90,1184.757,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 6E $GPRMC,103151.800,A,4046.008095,+00255 +00010 N,11913.67 1990,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +0001 0 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103152.000,4046.008095,N,Kp Kd Ki +00015 +00000 +00001 min11913.671990,W,1,10,0.90,1184.754,M,dr maxdr maxa dead: +00030 +00200 -20.833,M,,*66 $GPRMC,103152.000,A,4+00255 +00010 046.008095,N,11913.671990,W,0.000,48.55,040707,,,A*79 $G PVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103152.200,40 46.008096,N,11913.671991,W,1,10,0.90,1184.754,M,-20.833,M,,*66 $GPRMC,103152.200,A,4046.008096,N,11913.671991,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity S teer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: $GPGGA,103152.400,4046.008096 Kp Kd Ki +00015 +00000 +00001 mi,N,11913.671993,W,1,10,0.90,1184.754ndr maxdr maxa dead: +00030 +00200,M,-20.833,M,,*62 $GPGSA,A,3,10,16,1 +00255 +00010 8,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,28,24,74,355,16,21,48,274,37*7F $ GPGSV,3,2,11,10,36,049,37,30,30,196,40,29,22,106,34,18,21,204,38*73 $GPGSV,3,3,11,16,18,318,29,05,17,185,37,12,08,173,32*42 $GPRMC,103152.400,A,4046.008096,N,11913.671993,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Ste er: $GPtarget current +00011 +00009 Gain: GGA,103152.600,4046.008095,N,11913.6Kp Kd Ki +00015 +00000 +00001 min71993,W,1,10,0.90,1184.754,M,-20.833,dr maxdr maxa dead: +00030 +00200 M,,*63 $GPRMC,103152.600,A,4046.008+00255 +00010 095,N,11913.671993,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +0 0000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPtarget current +00011 +00009 Gain: GGA,103152.800,4046.008096,N,11913.67Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 1995,W,1,10,0.90,1184.753,M,-20.833,M,,*6F $GPRMC,103152.800,A,4046.0080+00255 +00010 96,N,11913.671995,W,0.001,48.55, 040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GP GGA,103153.000,4046.008096,N,11913.671996,W,1,10,0.90,1184.754,M,-20.833,M,,*62 $GPRMC,103153.000,A,4046.008096,N,11913.671996,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,1ta rget current +00011 +00009 Gain: 03153.200,4046.008095,N,11913.671997Kp Kd Ki +00015 +00000 +00001 min,W,1,10,0.90,1184.752,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 64 $GPRMC,103153.200,A,4046.008095,N+00255 +00010 ,11913.671997,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103153.400,4046.008095,N,1191 3.671998,W,1,10,0.90,1184.750,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355,16,21,48,274,37*7Motor1: +00000 +00000 +00000 E $GPGSV,3,2,11,10,36,049,37,30,30,1 PID: +00008 +00010 +00004 ISav: +96,40,29,22,106,34,18, 21,204,38*73 00000 encoderSpeed: +00000 curr$GPGSV,3,3,11,16,18,318,28,05,17,185entSense: -00016 Velocity Steer: ,37,12,08,173,32*43 $GPRMC,103153.40target current +00011 +00010 Gain: 0,A,4046.008095,N,11913.671998,W,0.00Kp Kd Ki +00015 +00000 +00001 min1,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0. 002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103153.600,4046.008096,N,11913.671999,W,1,10,0.90,1184.747,M,-20.833,M,,*69 $GPRMC,103153.600,A,4046.008096,N,11913.671999,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPG GA,103153.800,4046.008098,N,11913.672001,W,1,10,0.90,1184.745,M,-20.833,M,,*60 $GPRMC,103153.800,A,4046.008098,N,11913.672001,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGtarget cu rrent +00011 +00010 Gain: GA,103154.000,4046.008099,N,11913.672Kp Kd Ki +00015 +00000 +00001 min001,W,1,10,0.90,1184.744,M,-20.833,M,dr maxdr maxa dead: +00030 +00200 ,*6F $GPRMC,103154.000,A,4046.00809+00255 +00010 9,N,11913.672001,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +000 00 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103154.2 00,4046.008099,N,11913.672002,W,1,10,0.90,1184.744,M,-20.833,M,,*6E $GPRMC,103154.200,A,4046.008099,N,11913.672002,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103154.400,4046.008099,N,119 Kp Kd Ki +00015 +00000 +00001 mi13.672003,W,1,10,0.90,1184.743,M,-20ndr maxdr maxa dead: +00030 +00200.833,M,,*6E $GPGSA,A,3,10,16,18,21,3 +00255 +00010 0,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355,16,21,48,27 4,38*71 $GPGSV,3,2,11,10,36,049,37,30,30,196,39,29,22,106,34,18,21,204,38*7D $GPGSV,3,3,11,16,18,318,29,05,17,185,38,12,08,173,32*4D $GPRMC,103154.400,A,4046.008099,N,11913.672003,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPG GA,103154.600,4046.008099,N,11913.672002,W,1,10,0.90,1184.743,M,-20.833,M,,*6D $GPRMC,103154.600,A,4046.008099,N,11913.672002,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGtarget curr ent +00011 +00009 Gain: A,103154.800,4046.008099,N,11913.672Kp Kd Ki +00015 +00000 +00001 min003,W,1,10,0.90,1184.744,M,-20.833,M,dr maxdr maxa dead: +00030 +00200 ,*65 $GPRMC,103154.800,A,4046.00809+00255 +00010 9,N,11913.672003,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGG A,103155.000,4046.008098,N,11913.672002,W,1,10,0.90,1184.743,M,-20.833,M,,*6B $GPRMC,103155.000,A,4046.008098,N,11913.672002,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGtarget current +00011 +00010 Gain: A,103155.200,4046.008098,N,11913.6720Kp Kd Ki +00015 +00000 +00001 min02,W,1,10,0.90,1184.742,M,-20.833,M,,dr maxdr maxa dead: +00030 +00200 *68 $GPRMC,103155.200,A,4046.008098+00255 +00010 ,N,11913.672002,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103155.400,4046.008097,N,11913.672002,W ,1,10,0.90,1184.740,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355,16,21,48,274,38*71Motor1: +00000 +00000 +00000 $GPGSV,3,2,11,10,36,049,37,30,30,19PID: +00008 +00010 +00004 ISav: +6,39,29,22,106,34,18,21,204,37*72 $G00000 encoderSpeed: +00000 currPGSV,3,3,11,16,18,318,30,05,17,185,3entSense: -00014 Velocity Steer: 8,12,08,173,34*43 $GPRMC,103155.400,target current +00011 +00010 Gain: A,4046.008097,N,11913.672002,W,0.001,Kp Kd Ki +00015 +00000 +00001 min48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr m axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +0000$GPGGA8 +00010 +00004 ISav: +00000 enc,103155.600,4046.008097,N,11913.6720oderSpeed: +00000 currentSense: -03,W,1,10,0.90,1184.738,M,-20.833,M,,00015 Velocity Steer: target curr*6F $GPRMC,103155.600,A,4046.008097ent +00011 +00009 Gain: Kp Kd Ki , N,11913.672003,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxd r maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA00000 encoderSpeed: +00000 cur,103155.800,4046.008096,N,11913.67200rentSense: -00013 Velocity Steer:4,W,1,10,0.90,1184.737,M,-20.833,M,, target current +00011 +00010 Gain:*68 $GPRMC,103155.800,A,4046.008096 Kp Kd Ki +00015 +00000 +00001 mi,N,11913.6720 04,W,0.000,48.55,040707,ndr maxdr maxa dead: +00030 +00200,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103 PID: +00008 +00010 +00004 ISav: 156.000,4046.008095,N,11913.672002,W,+00000 encoderSpeed: +00000 cur1,10,0.90,1184.735,M,-20.833,M,,*64 rentSense: -00014 Velocity Steer: $GPRMC,103156.000,A,4046.008095,N,11 target current +00011 +00009 Gain:913.672002,W,0.001,48.55,040707,,,A*7 Kp Kd Ki +00015 +00000 +00001 mi D $GPVTG,48.55,T,,M,0.001,N,0.001,Kndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00012 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000,A*01 +00001 mindr maxdr maxa dead: +00030 +00 200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGAtarget current +00011 +00010 Gain: ,103156.200,4046.008095,N,11913.67200Kp Kd Ki +00015 +00000 +00001 min0,W,1,10,0.90,1184.734,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 65 $GPRMC,103156.200,A,4046.008095, +00255 +00010 N,11913.672000,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 + 00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103156.400,4046.008093,N,Kp Kd Ki +00015 +00000 +00001 min11913.671998,W,1,10,0.90,1184.735,M,-dr maxdr maxa dead: +00030 +00200 20.833,M,,*6F $GPGSA,A,3,10,16,18,21+00255 +00010 ,30,07,12,29,05,06,,,1.58,0.90, 1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355,16,21,48,274,38*71 Motor1: +00000 +00000 +00000 $GPGSV,3,2,11,10,36,049,37,30,30,196, PID: +00008 +00010 +00004 ISav: +39,29,22,106,34,18,21,204,37*72 $GP00000 encoderSpeed: +00000 currGSV,3,3,11,16,18,318,30,05,17,185,38,12,08,173,34*43 $GPRMC,103156.400,A,4046.008093,N,11913.671998,W,0.002,48.55,040707,, ,A*75 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00 015 Velocity Steer: $GPGGA,target current +00011 +00010 Gain: 103156.600,4046.008092,N,11913.67199Kp Kd Ki +00015 +00000 +00001 min6,W,1,10,0.90,1184.734,M,-20.833,M,,*63 $GPRMC,103156.600,A,4046.008092,N,11913.671996,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA ,103156.800,4046.008091,N,11913.671995,W,1,10,0.90,1184.733,M,-20.833,M,,*6A $GPRMC,103156.800,A,4046.008091,N,11913.671995,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: $GPGGA,1031target current + 00011 +00010 Gain: 57.000,4046.008092,N,11913.671994,W,1Kp Kd Ki +00015 +00000 +00001 min,10,0.90,1184.729,M,-20.833,M,,*6A dr maxdr maxa dead: +00030 +00200 $GPRMC,103157.000,A,4046.008092,N,119+00255 +00010 13.671994,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderS peed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$GPGGA,1031 target current +00011 +00009 Gain:57.200,4046.008093,N,11913.671993,W,1 Kp Kd Ki +00015 +00000 +00001 mi,10,0.90,1184.727,M,-20.833,M,,*60 ndr maxdr maxa dead: +00030 +00200$GPRMC,103157.200,A,4046.008093,N,119 +00255 +00010 13.671993,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpee d: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103157.400,4046.008093,N,11913Kp Kd Ki +00015 +00000 +00001 min.671993,W,1,10,0.90,1184.725,M,-20.83dr maxdr maxa dead: +00030 +00200 3,M,,*64 $GPGSA,A,3,10,16,18,21,30,0+00255 +00010 7,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355,16,21,48,274,38*71 $GPGSMotor1: +00000 +00000 +00000 V,3,2,11,10,36,049,37,30,30,19 6,39,2PID: +00008 +00010 +00004 ISav: +9,22,106,33,18,21,204,37*75 $GPGSV,300000 encoderSpeed: +00000 curr,3,11,16,18,318,29,05,17,185,38,12,08,173,34*4B $GPRMC,103157.400,A,4046.008093,N,11913.671993,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,target current +00011 +00010 Gain: 103157.600,4046.008093,N,11913.671992Kp Kd Ki +00015 +00000 +00001 min,W,1,10,0.90,1184.723,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 +00255 +00010 61 $GPRMC,103157.600,A,4046.008093,N,11913.671992,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,rentSense: -00015 Velocity Steer:103157.800,4046.008093,N,11913.671991 target current +00011 +00009 Gain:,W,1,10,0.90,1184.721,M,-20.833,M,,* Kp Kd Ki +00015 +00000 +00001 mi6E $GPRMC,103157.800,A,4046.008093,Nndr maxdr maxa dead: +00030 +00200,11913.671991,W,0.001,48.55,040707,,, +00255 +00010 A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 m indr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103158.000,4046.008091,N,1191+00000 encoderSpeed: +00000 cur3.671990,W,1,10,0.90,1184.720,M,-20.8rentSense: -00016 Velocity Steer:33,M,,*6B $GPRMC,103158.000,A,4046.0 target current +00 011 +00009 Gain:08091,N,11913.671990,W,0.001,48.55,0 Kp Kd Ki +00015 +00000 +00001 mi40707,,,A*76 $GPVTG,48.55,T,,M,0.001ndr maxdr maxa dead: +00030 +00200,N,0.002,K,A*02 +00255 +00010 $GPGGA,103158.200,4046.008091,N,11913.671989,W,1,10,0.90,1 184.717,M,-20.833,M,,*65 $GPRMC,103158.200,A,4046.008091,N,11913.671989,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103158.400,4046.0080 90,N,11913.671989,W,1,10,0.90,1184.715,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355,16,21,48,274,38*71 $GPGSV,3,2,11,10,36,049,37,30,Motor1: +00000 +00000 +00000 30,196,39,29,22,106,33,18,21,204,37*7 PID: +00008 +00010 +00004 ISav: +5 $GP GSV,3,3,11,16,18,318,29,05,17,100000 encoderSpeed: +00000 curr85,38,12,08,173,34*4B $GPRMC,103158entSense: -00016 Velocity Steer: .400,A,4046.008090,N,11913.671989,W,0target current +00011 +00009 Gain: .000,48.55,040707,,,A*7A $GPVTG,48.5Kp Kd Ki +00015 +00000 +00001 min5,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor$GPGGA,11: +00000 +00000 +00000 PID: +00003158.600,4046.008090,N,11913.671988,08 +00010 +00004 ISav: +00000 enW,1,10,0.90,1184.714,M,-20.833,M,,*6coderSpeed: +00000 currentSense: 2 $GPRMC,103158.600,A,4046.008090,N,-00015 Velocity Steer: target cur11913.671988 ,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 rent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +000 00 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103158+00000 encoderSpeed: +00000 cur.800,4046.008091,N,11913.671987,W,1,rentSense: -00014 Velocity Steer:10,0.90,1184.712,M,-20.833,M,,*64 $G target current +00011 +00010 Gain:PRMC,103158.800,A,4046.008091,N,1191 Kp Kd Ki +00015 +00 000 +00001 mi3.671987,W,0.000,48.55,040707,,,A*79 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00 030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $ PID: +00008 +00010 +00004 ISav: +GPGGA,103159.000,4046.008091,N,11913.00000 encoderSpeed: +00000 curr671986,W,1,10,0.90,1184.711,M,-20.833entSense: -00015 Velocity Steer: ,M,,*6F $GPRMC,103159.000,A,4046.008target current +00011 +00009 Gain: 091,N,11913.671986,W,0.001,48.55,040Kp Kd Ki +00015 +00000 +00001 min707,,,A*70 $GPVTG,48.55,T,,M,0.001,dr maxdr maxa dead: +00030 +00200 +00255 +00010 N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,10010 3159.200,4046.008092,N,11913.671986,W,1,10,0.90,1184.710,M,-20.833,M,,*6F $GPRMC,103159.200,A,4046.008092,N,11913.671986,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer:$ GPGGA,103159.400,4046.008092,N,119 target current +00011 +00010 Gain:13.671987,W,1,10,0.90,1184.709,M,-20. Kp Kd Ki +00015 +00000 +00001 mi833,M,,*60 $GPGSA,A,3,10,16,18,21,30ndr maxdr maxa dead: +00030 +00200,07,12,29,05,06,,,1.58,0.90,1.30*06 +00255 +00010 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355 ,16,21,48,274,38*71 $GPGSV,3,2,11,10,36,049,37,30,30,196,39,29,22,106,33,18,21,204,37*75 $GPGSV,3,3,11,16,18,318,28,05,17,185,38,12,08,173,33*4D $GPRMC,103159.400,A,4046.008092,N,11913.671987,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103159.600,4046.008091,N,11913 .671987,W,1,10,0.90,1184.708,M,-20.833,M,,*60 $GPRMC,103159.600,A,4046.008091,N,11913.671987,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103159.800,4046.008090,N,11913.671985,W,1, 10,0.90,1184.708,M,-20.833,M,,*6D $GPRMC,103159.800,A,4046.008090,N,11913.671985,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGAentSense: -00015 Velocity Steer: ,103200.000,4046.008089,N,11913.67198target current +00011 +00010 Gain: 4,W,1,10,0.90,1184.707,M,-20.833,M,,*Kp Kd Ki +00015 +00000 +00001 min6C $GPRMC,103200.000,A,4046.008089,dr maxdr maxa dead: +00030 +00200 N,11913.671984,W,0.001,48.55,040707,,+00255 +00010 ,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103200.entSense: -00016 Velocity Steer: 200,4046.008090,N,11913.671982,W,1,1target current +00011 +00009 Gain: 0,0.90,1184.706,M,-20.833,M,,*61 $GPKp Kd Ki +00015 +00000 +00001 minRMC,103200.200,A,4046.008090,N,11913.dr maxdr maxa dead: +00030 +00200 671982,W,0.001,48.55,040707,,,A*78 +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGG A,103200.400,4046.008090,N,1191target current +00011 +00009 Gain: 3.671982,W,1,10,0.90,1184.703,M,-20.8Kp Kd Ki +00015 +00000 +00001 min33,M,,*62 $GPGSA,A,3,10,16,18,21,30dr maxdr maxa dead: +00030 +00200 ,07,12,29,05,06,,,1.58,0.90,1.30*06 +00255 +00010 $GPGSV,3,1,11,06,86,345,29,07,75,313,29,24,74,355,16,21 ,48,274,38*71 $GPGSV,3,2,11,10,36,049,37,30,30,196,39,29,22,106,33,18,21,204,37*75 $GPGSV,3,3,11,16,18,318,28,05,17,185,37,12,08,173,33*42 $GPRMC,103200.400,A,4046.008090,N,11913.671982,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103200. 600,4046.008090,N,11913.671981,W,1,10,0.90,1184.701,M,-20.833,M,,*61 $GPRMC,103200.600,A,4046.008090,N,11913.671981,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103entSense: -00015 Velocity Steer : 200.800,4046.008091,N,11913.671979,W,target current +00011 +00009 Gain: 1,10,0.90,1184.699,M,-20.833,M,,*69 Kp Kd Ki +00015 +00000 +00001 min $GPRMC,103200.800,A,4046.008091,N,11dr maxdr maxa dead: +00030 +00200 913.671979,W,0.000,48.55,040707,,,A*7+00255 +00010 6 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103201.000,4046.008092,N,11913.6719 79,W,1,10,0.90,1184.697,M,-20.833,M,,*6D $GPRMC,103201.000,A,4046.008092,N,11913.671979,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,1032entSense: -00015 Velocity Steer: 01.200,4046.008092,N,11913.671978,W,target current +00011 +00010 Gain: 1,10,0.90,1184.694,M,-20.833,M,,*6D Kp Kd Ki +00015 +00000 +00001 min $GPRMC,103201.200,A,4046.008092,N,11dr maxdr maxa dead: +00030 +00200 913.671978,W,0.001,48.55,040707,,,A*7+00255 +00010 E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGG A,103201.400,4046.008093,N,11913.671978,W,1,10,0.90,1184.692,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,29,07,75,313,30,24,74,355,16,21,48,274,38*79 $GPGSV,3,2,11,10,36,049,37,30,30,196,39,Motor1: +00000 +00000 +00000 29,22,106,33,18,21,204,37*75 $GPGSV,PID: +00008 +00010 +00004 ISav: +03,3,11,16,18,318,28, 05,17,185,37,12,00000 encoderSpeed: +00000 curr8,173,33*42 $GPRMC,103201.400,A,4046entSense: -00015 Velocity Steer: .008093,N,11913.671978,W,0.001,48.55target current +00011 +00010 Gain: ,040707,,,A*79 $GPVTG,48.55,T,,M,0.0Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0 0030 +00200 +00255 +00010 01,N,0.001,K,A*01 Moto$GPGGA,1032r1: +00000 +00000 +00000 PID: +0001.600,4046.008093,N,11913.671977,W,1008 +00010 +00004 ISav: +00000 e,10,0.90,1184.691,M,-20.833,M,,*62 ncoderSpeed: +00000 currentSense:$GPRMC,103201.600,A,4046.008093,N,119 -00014 Velocity Steer: target cu13.671977,W,0.000,48.55,0 40707,,,A*7rrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 5 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mind r maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +0000$GPGGA,10320 PID: +00008 +00010 +00004 ISav:01.800,4046.008093,N,11913.671975,W,1 +00000 encoderSpeed: +00000 cu,10,0.90,1184.688,M,-20.833,M,,*66 rrentSense: -00015 Velocity Steer$GPRMC,103201.800,A,4046.008093,N,119: target current +00011 +00010 Gain13.671975,W,0.001,48.55,040707,,,A*78: Kp Kd Ki +00015 +00000 +00001 m $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 indr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +0025 5 +00010 Motor1: +00000 +00000 +00000 $GPGGA,1032 PID: +00008 +00010 +00004 ISav: 02.000,4046.008094,N,11913.671975,W,1+00000 encoderSpeed: +00000 cur,10,0.90,1184.684,M,-20.833,M,,*66 rentSense: -00014 Velocity Steer:$GPRMC,103202.000,A,4046.008094,N,119 target current +00011 +00010 Gain:13.671975,W,0. 001,48.55,040707,,,A*74 Kp Kd Ki +00015 +00000 +00001 mi $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,10320entSense: -00015 Velocity Steer: 2. 200,4046.008097,N,11913.671977,W,1target current +00011 +00010 Gain: ,10,0.90,1184.680,M,-20.833,M,,*61 Kp Kd Ki +00015 +00000 +00001 min$GPRMC,103202.200,A,4046.008097,N,119dr maxdr maxa dead: +00030 +00200 13.671977,W,0.002,48.55,040707,,,A*74+00255 +00010 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$entSense: -00014 Velocity Steer: GPGGA,103202.400 ,4046.008099,N,11913.target current +00011 +00010 Gain: 671978,W,1,10,0.90,1184.675,M,-20.833Kp Kd Ki +00015 +00000 +00001 min,M,,*6C $GPGSA,A,3,10,16,18,21,30,0dr maxdr maxa dead: +00030 +00200 7,12,29,05,06,,,1.58,0.90,1.30*06 $+00255 +00010 GPGSV,3,1,11,06,86,345,29,07,75,313,30,24,74,355,16,21,48,274,38*79 $GPGSV,3,2,11,10,36,049,37,30,30,196,39,2Motor1: +00 000 +00000 +00000 9,22,106,35,18,21,204,37*73 $GPGSV,3 PID: +00008 +00010 +00004 ISav: +,3,11,16,18,318,29,05,17,185,37,12,07,173,33*4C $GPRMC,103202.400,A,4046.008099,N,11913.671978,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -0001 5 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,10320ntSense: -00014 Velocity Steer: t2.600,4046.008099,N,11913.671976,W,1arget current +00011 +00010 Gain: ,10,0.90,1184.6 71,M,-20.833,M,,*64 $Kp Kd Ki +00015 +00000 +00001 minGPRMC,103202.600,A,4046.008099,N,11913.671976,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 $GPGGA,103202.80 currentSense: -00015 Velocity S0,4046.008099,N,11913.671976,W,1,10,teer: target current +00011 +00010 0.90,1184.668,M,-20.833,M,,*62 $GPRMGain: Kp Kd Ki +000 15 +00000 +0000C,103202.800,A,4046.008099,N,11913.671 mindr maxdr maxa dead: +00030 +1976,W,0.001,48.55,040707,,,A*72 $G00200 +00255 +00010 PVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +000 00 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103203.00 PID: +00008 +00010 +00004 ISav: 0,4046.008099,N,11913.671976,W,1,10,0+00000 encoderSpeed: +00000 cur.90,1184.667,M,-20.833,M,,*64 $GPRMrentSense: -00014 Velocity Steer:C,103203.000,A,4046.008099,N,11913.67 target current +00011 +00010 Gain:1976,W,0.000,48. 55,040707,,,A*7A $G Kp Kd Ki +00015 +00000 +00001 miPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: + 00030 +00200 +00255 +00$GPGGA,103203010 Motor1: +00000 +00000 +00000 .200,4046.008099,N,11913.671976,W,1, PID: +00008 +00010 +00004 ISav: 10,0.90,1184.665,M,-20.833,M,,*64 $+00000 encoderSpeed: +00000 curGPRMC,103203.200,A,4046.008099,N,1191rentSense: -00016 Velocity Steer:3.671976,W,0.000,48.55,040707,,,A*78 target current +00011 +00010 Gain: $GPVTG,48.55,T,,M,0.000,N,0.001,K,A Kp Kd Ki +00015 +00000 +00001 mi*00 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GentSense: -00016 Velocity Steer: PGGA,103203.400,4 046.008100,N,11913.target current +00011 +00010 Gain: 671974,W,1,10,0.90,1184.666,M,-20.833Kp Kd Ki +00015 +00000 +00001 min,M,,*62 $GPGSA,A,3,10,16,18,21,30,07dr maxdr maxa dead: +00030 +00200 ,12,29,05,06,,,1.58,0.90,1.30*06 $G+00255 +00010 PGSV,3,1,11,06,86,345,29,07,75,313,30,24,74,355,16,21,48,274,38*79 $GPGSV,3,2,11,10,36,049,37,30,30,196,39,29Motor1: +00000 +00 000 +00000 ,22,106,34,18,21,204,37*72 $GPGSV,3, PID: +00008 +00010 +00004 ISav: +3,11,16,18,318,29,05,17,185,38,12,07,00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0 0010 173,33*43 $GPRMC,103203.400,A,4046.008100,N,11913.671974,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103203entSense: -00015 Velocity Steer: .600,4046.008099,N,11913.671972,W,1,target current +00011 +00009 Gain: 10,0.90,1184.667,M,- 20.833,M,,*66 $GKp Kd Ki +00015 +00000 +00001 minPRMC,103203.600,A,4046.008099,N,11913.671972,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +0001 1 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103203rentSense: -00014 Velocity Steer:.800,4046.008098,N,11913.671971,W,1, target current +00011 +00009 Gain:10,0.90,1184.667,M,-20.833,M,,*6A $G Kp Kd Ki +00015 +0 0000 +00001 miPRMC,103203.800,A,4046.008098,N,11913ndr maxdr maxa dead: +00030 +00200.671971,W,0.001,48.55,040707,,,A*75 +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Stee r: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103204.000,4046.008099,N,11913.671970,W,1,10,0.90,1184.665,M,-20.833,M,,*67 $GPRMC,103204.000,A,4046.008099,N,11913.671970,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGAentSense: -00014 Velocity Steer: ,103204.200,4046.008 099,N,11913.67197target current +00011 +00010 Gain: 0,W,1,10,0.90,1184.663,M,-20.833,M,,Kp Kd Ki +00015 +00000 +00001 min*63 $GPRMC,103204.200,A,4046.008099dr maxdr maxa dead: +00030 +00200 ,N,11913.671970,W,0.001,48.55,040707,+00255 +00010 ,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encode rSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,entSense: -00015 Velocity Steer: 103204.400,4046.008 100,N,11913.671969target current +00011 +00011 Gain: ,W,1,10,0.90,1184.661,M,-20.833,M,,*Kp Kd Ki +00015 +00000 +00001 min6E $GPGSA,A,3,10,16,18,21,30,07,12,2dr maxdr maxa dead: +00030 +00200 9,05,06,,,1.58,0.90,1.30*06 $GPGSV,+00255 +00010 3,1,11,06,86,345,29,07,75,313,30,24,74,355,16,21,48,274,38*79 $GPGSV,3,2,11,10,36,049,37,30,30,196,39,29,22,1Motor1: +00000 + 00000 +00000 06,34,18,21,204,37*72 $GPGSV,3,3,11,PID: +00008 +00010 +00004 ISav: +16,18,318,29,05,17,185,38,12,07,173,34*44 $GPRMC,103204.400,A,4046.008100,N,11913.671969,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103204.ntSense: -00015 Velocity Steer: t600,4046.008100,N,11913.671968,W,1,1arget current +00011 +0 0010 Gain: K0,0.90,1184.659,M,-20.833,M,,*66 $GPp Kd Ki +00015 +00000 +00001 mindRMC,103204.600,A,4046.008100,N,11913.671968,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 r maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103204.entSense: -00016 Velocity Steer: 800,4046.008100,N,11913.671968,W,1,1target current +00011 +00009 Gain: 0,0.90,1184.658,M,-20.833,M,,*69 $GPKp Kd Ki +00015 +00000 +00001 minRMC,103204.800,A,4046.008100,N,11913.dr maxdr maxa dead: +00030 +00200 671968,W,0.001,48.55,040707,,,A*7A +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103205.rentSense: -00015 Velocity Steer:000,4046.00810 1,N,11913.671967,W,1,1 target current +00011 +00009 Gain:0,0.90,1184.657,M,-20.833,M,,*61 $GP Kp Kd Ki +00015 +00000 +00001 miRMC,103205.000,A,4046.008101,N,11913.ndr maxdr maxa dead: +00030 +00200671967,W,0.001,48.55,040707,,,A*7D +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderS peed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103205.ntSense: -00015 Velocity Steer: 200,4046.008102 ,N,11913.671966,W,1,1target current +00011 +00010 Gain: 0,0.90,1184.656,M,-20.833,M,,*60 $GPKp Kd Ki +00015 +00000 +00001 minRMC,103205.200,A,4046.008102,N,11913.dr maxdr maxa dead: +00030 +00200 671966,W,0.001,48.55,040707,,,A*7D +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSp eed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,1entSense: -00016 Velocity Steer: 03205.400,4046.008103,N ,11913.671966,target current +00011 +00010 Gain: W,1,10,0.90,1184.653,M,-20.833,M,,*6Kp Kd Ki +00015 +00000 +00001 min2 $GPGSA,A,3,10,16,18,21,30,07,12,2dr maxdr maxa dead: +00030 +00200 9,05,06,,,1.58,0.90,1.30*06 $GPGSV,3+00255 +00010 ,1,11,06,86,345,29,07,75,313,31,24,74,356,16,21,48,274,38*7B $GPGSV,3,2,11,10,36,049,37,30,30,196,39,29,22,10 Motor1: +00000 +00000 +00000 6,34,18,21,204,37*72 $GPGSV,3,3,11,16,18,318,30,05,17,185,38,12,07,173,34*4C $GPRMC,103205.400,A,4046.008103,N,11913.671966,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSen se: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103205.600,4046.008103,N,11913.671967,W,1,1Motor1:0,0.90,1184.651,M,-20.833,M,,*63 $GP +00000 +00000 +00000 PID: +00008RMC,103205.600,A,4046.008103,N,11913. +00010 +00004 ISav: +00000 enc671967,W,0.001,48.55,040707 ,,,A*79 oderSpeed: +00000 currentSense: -$GPVTG,48.55,T,,M,0.001,N,0.002,K,A*0200015 Velocity Steer: target curr ent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103205.800,0010 Motor1: +00000 +00000 +000004046.008104,N,11913.671967,W,1,10,0.9 PID: +00008 +00010 +00004 ISav: 0,1184.648,M,-20.833,M,,*62 $GPRMC,1+00000 encoderSpeed: +00000 cur03205.800,A, 4046.008104,N,11913.6719rentSense: -00015 Velocity Steer:67,W,0.000,48.55,040707,,,A*71 $GPVT target current +00011 +00008 Gain:G,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103206.000,4046.008105,N,11913.671967,W,1,10 ,0.90,1184.645,M,-20.833,M,,*65 $GPRMC,103206.000,A,4046.008105,N,11913.671967,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 09 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103206.200,4046.008105,N,11913.671967,W,1,10 ,0.90,1184.643,M,-20.833,M,,*61 $GPRMC,103206.200,A,4046.008105,N,11913.671967,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103206.400,4046.008106,N,11913.671967, W,1,10,0.90,1184.641,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,28,07,75,313,31,24,74,356,16,21,48,274,38*7A $GPGSV,3,2,11,10,36,049,37,30,30,195,39,29,22,106,34,18,21,204,37*71 $GPGSV,3,3,11,16Motor1: +00000 +00000 +00000 ,18,318,30,05,17,185,38,12,07,173,33PID: +00008 +00010 +00004 ISav: +*4B $GPRMC,103206.400,A,4046.008106,00000 encoderSpeed: +00000 currN,11913.671967,W,0.001,48.55,040707,,entSense: -00014 Velocity Steer: ,A*7D $GPVTG,48.55,T,,M,0.001,N,0.0target current +00011 +00008 Gain: 01,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00 255 +00010 $GPGGA,103206.600,4046.008106,N,11913.671966,W,1,10,0.90,1184.639,M,-20.833,M,,*6A $GPRMC,103206.600,A,4046.008106,N,11913.671966,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103206.800,4046.008107,N,11913.671967,W,1,10, 0.90,1184.637,M,-20.833,M,,*6A $GPRMC,103206.800,A,4046.008107,N,11913.671967,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103207.000,4046.008107,N,11913.671966,W,1,10,0.90,1184.635,M,-2 0.833,M,,*60 $GPRMC,103207.000,A,4046.008107,N,11913.671966,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity S teer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103207.200,4046.008108,N,11913.671966,W,1,1 0,0.90,1184.634,M,-20.833,M,,*6C $GPRMC,103207.200,A,4046.008108,N,11913.671966,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103207.400,4046.008108,N,11913. 671965,W,1,10,0.90,1184.632,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,28,07,75,313,31,24,74,356,16,21,48,274,38*7A $GPGSV,3,2,11,10,36,049,37,30,30,195,39,29,22,106,34,18,21,204,37*71 $GPGSV,3,Motor1: +00000 +00000 +00000 3,11,16,18,318,30,05,17,185,38,12,07,PID: +00008 +00010 +00004 ISav: +0173,34*4C $GPRMC,103207.400,A,4046.0000 encoderSpeed: +00000 curre008108,N,11913.671965,W,0.001,48.55,ntSense: -00013 Velocity Steer: 040707,,,A*70 $GPVTG,48.55,T,,M,0.00target current +00011 +00010 Gain: 1,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0020 0 +00255 +00010 $GPGGA,103207Motor.600,4046.008108,N,11913.671964,W,1,1: +00000 +00000 +00000 PID: +00010,0.90,1184.630,M,-20.833,M,,*6E $G08 +00010 +00004 ISav: +00000 ePRMC,103207.600,A,4046.008108,N,11913ncoderSpeed: +00000 currentSense:.671964,W,0.001,48.55,040707,,,A*73 -00015 Velocity Steer: target cu$GPVTG,48.55, T,,M,0.001,N,0.002,K,A*02 rrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0 0200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103207.80 PID: +00008 +00010 +00004 ISav: 0,4046.008108,N,11913.671961,W,1,10,0+00000 encoderSpeed: +00000 cur.90,1184.628,M,-20.833,M,,*6C $GPRMrentSense: -00014 Velocity Steer:C,103207.800,A,4046.008108,N,11913.67 target current +00011 +00011 Gain:1961,W,0.001,48.55,040707,,,A*78 $G Kp Kd Ki +00015 +00000 +0 0001 miPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +000 00 +00000$GPGGA,103208.00 PID: +00008 +00010 +00004 ISav: 0,4046.008109,N,11913.671961,W,1,10,0+00000 encoderSpeed: +00000 cur.90,1184.625,M,-20.833,M,,*67 $GPRMCrentSense: -00015 Velocity Steer:,103208.000,A,4046.008109,N,11913.67 target current +00011 +00009 Gain:1961,W,0.001,48.55,040707,,,A*7E $G Kp Kd Ki +00015 +00000 +00001 miPVTG,48.55,T,,M,0 .001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103208.2 00,404 PID: +00008 +00010 +00004 ISav: 6.008111,N,11913.671961,W,1,10,0.90,+00000 encoderSpeed: +00000 cur1184.625,M,-20.833,M,,*6C $GPRMC,103rentSense: -00015 Velocity Steer:208.200,A,4046.008111,N,11913.671961 target current +00011 +00010 Gain:,W,0.000,48.55,040707,,,A*74 $GPVTG, Kp Kd Ki +00015 +00000 +00001 mi48.55,T,,M,0.000,N,0.001,K,A*00 ndr maxdr max a dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +$GPGGA00010 Motor1: +00000 +00000 +0000,103208.400,4046.008112,N,11913.6719 60 PID: +00008 +00010 +00004 ISav:2,W,1,10,0.90,1184.623,M,-20.833,M,,* +00000 encoderSpeed: +00000 cu6C $GPGSA,A,3,10,16,18,21,30,07,12,rrentSense: -00013 Velocity Steer29,05,06,,,1.58,0.90,1.30*06 $GPGSV,: target current +00011 +00009 Gain3,1,11,06,86,345,29,07,75,313,31,24,: Kp Kd Ki +00015 +00000 + 00001 m74,356,16,21,48,274,38*7B $GPGSV,3,2indr maxdr maxa dead: +00030 +00200 +00255 +00010 ,11,10,36,049,37,30,30,195,39,29,22,106,34,18,21,204,37*71 $GPGSV,3,3,11,16,18,318,30,05,17,185,38,12,07,173,35*4D $GPRMC,103208.400,A,4046.008112,N,11913.671962,W,0.001,48.55,040707,,,A*73 $GPVTG,48. 55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103208.600,4046.008114,N,11913.671963,W,1,10,0.90,1184.621,M,-20.833,M,,*6B $GPRMC,103208.600,A,4046.008114,N,11913.671963,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103208.80000000 encoderSpeed: +00000 curr,4046.008115,N,11913.671965, W,1,10,0.entSense: -00015 Velocity Steer: 90,1184.619,M,-20.833,M,,*69 $GPRMCtarget current +00011 +00010 Gain: ,103208.800,A,4046.008115,N,11913.671Kp Kd Ki +00015 +00000 +00001 min965,W,0.000,48.55,040707,,,A*7E $GPdr maxdr maxa dead: +00030 +00200 VTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103209.000,4046.008115,N,11913.671965,W,1,10,0.90,11 84.616,M,-20.833,M,,*6F $GPRMC,103209.000,A,4046.008115,N,11913.671965,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103209.20000000 encoderSpeed: +00000 curr,4046.008116,N,11913.671966,W,1 ,10,0.entSense: -00015 Velocity Steer: 90,1184.613,M,-20.833,M,,*68 $GPRMC,target current +00011 +00009 Gain: 103209.200,A,4046.008116,N,11913.6719Kp Kd Ki +00015 +00000 +00001 min66,W,0.001,48.55,040707,,,A*74 $GPVdr maxdr maxa dead: +00030 +00200 TG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103209.400,4046.008117,N,11913.671968,W,1,10,0.90,1184.610,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,345,28,07,75,313,31,24,74,356,16,21,48,274,38*7A $GPGSV,3,2,11,10,36,049,37,30,30,195,39,29,22,106,34,18,21,204,37*71 $GPGSV,3,3,11,16,18,318,29,05,17,185,38,12,07,173,33*43 $GPRMC,103209.400,A,4046.008117,N,11913 .671968,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103209.600,00000 encoderSpeed: +00000 curr4046.008117,N,11913.671969,W,1 ,10,0.entSense: -00016 Velocity Steer: 90,1184.608,M,-20.833,M,,*68 $GPRMC,target current +00011 +00009 Gain: 103209.600,A,4046.008117,N,11913.6719Kp Kd Ki +00015 +00000 +00001 min69,W,0.001,48.55,040707,,,A*7E $GPVdr maxdr maxa dead: +00030 +00200 TG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103209.800,4046.008117,N,11913.671971,W,1,10,0.90,1184.606, M,-20.833,M,,*61 $GPRMC,103209.800,A,4046.008117,N,11913.671971,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103210.000000 encoderSpeed: +00000 curr00,4046.008118,N,11913.671971,W,1,10 entSense: -00016 Velocity Steer: ,0.90,1184.605,M,-20.833,M,,*6D $GPRtarget current +00011 +00009 Gain: MC,103210.000,A,4046.008118,N,11913.6Kp Kd Ki +00015 +00000 +00001 min71971,W,0.000,48.55,040707,,,A*77 $dr maxdr maxa dead: +00030 +00200 GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103210.200,4046.008119,N,11913.671972,W,1,10,0.90,1184.602,M,-20.833,M,,* 6A $GPRMC,103210.200,A,4046.008119,N,11913.671972,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103210.400,4046.008119,N,11913entSense: -00014 Velocity Steer: .671973,W,1,10,0.90,1184.600,M,-20.83target current +00011 +00010 Gain: 3,M,,*6F $GPGSA,A,3,10,16,18,21,30,0Kp Kd Ki +00015 +00000 +00001 min7,12,29,05,06,,,1.58,0.90,1.30*06 $dr maxdr maxa dead: +00030 +00200GPGSV,3,1,11,06,86,345,28,07,75,313,3 +00255 +00010 1,24,74,356,16,21,48,274,38*7A $GPGSV,3,2,11,10,36,049,37,30,30,195,39,29,22,106,35,1 8,21,204,37*70 $GPGSV,3Motor1: +00000 +00000 +00000 ,3,11,16,18,318,29,05,17,185,38,12,0 PID: +00008 +00010 +00004 ISav: +7,173,33*43 $GPRMC,103210.400,A,4046.008119,N,11913.671973,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: targ et current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,1032100000 encoderSpeed: +00000 curr0.600,4046.008119,N,11913.671973,W,1entSense: -00015 Velocity Steer: ,10,0.90,1184.598,M,-20.833,M,,*6F target current +00011 +00010 Gain: $GPR MC,103210.600,A,4046.008119,N,11913.671973,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103210000 encoderSpeed: +00000 curr0.800,4046.008120,N,11913.671974,W,1entSense: -00015 Velocity Steer: ,10,0.90,1184.598,M,-20.833,M,,*6C $target current +00011 +00009 Gain: GPRMC,103210.800,A,4046.008120,N,1191Kp K d Ki +00015 +00000 +00001 min3.671974,W,0.001,48.55,040707,,,A*70dr maxdr maxa dead: +00030 +00200 $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr max a dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103211.000,4046. PID: +00008 +00010 +00004 ISav: +008121,N,11913.671974,W,1,10,0.90,11800000 encoderSpeed: +00000 curr4.596,M,-20.833,M,,*6A $GPRMC,10321entSense: -00015 Velocity Steer: 1.000,A,4046.008121,N,11913.671974,W,target current +00011 +00011 Gain: 0.001,48.55,040707,,,A*78 $GP VTG,48Kp Kd Ki +00015 +00000 +00001 min.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +0 0001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103211.200,4046.010 008121,N,11913.671975,W,1,10,0.90,1184.594,M,-20.833,M,,*6B $GPRMC,103211.200,A,4046.008121,N,11913.671975,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -000 15 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,10321100000 encoderSpeed: +00000 curr.400,4046.008121,N,11913.671975,W,1,entSense : -00015 Velocity Steer: 10,0.90,1184.593,M,-20.833,M,,*6A $Gtarget current +00011 +00010 Gain: PGSA,A,3,10,16,18,21,30,07,12,29,05,0Kp Kd Ki +00015 +00000 +00001 min6,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,dr maxdr maxa dead: +00030 +00200 06,86,345,29,07,75,313,31,24,74,356,+00255 +00010 16,21,48,274,38*7B $GPGSV,3,2,11,10,36,049,37,30,30,195,39,29,22,106,35,18,21 ,204,37*70 $GPGSV,3,3,11,16,18Motor1: +00000 +00000 +00000 ,318,31,05,17,185,38,12,07,173,33*4A PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +000 10 $GPRMC,103211.400,A,4046.008121,N,11913.671975,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103211.600,4000000 encoderSpeed: +00000 curr46.008122,N,11913.671975,W,1,10,0.90,entSense: -00015 Velocity Steer: 1184.592,M,-20.833, M,,*6A $GPRMC,10target current +00011 +00009 Gain: 3211.600,A,4046.008122,N,11913.671975,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103211.800,4000000 encoderSpeed: +00000 curr46.008123 ,N,11913.671976,W,1,10,0.90,entSense: -00015 Velocity Steer: 1184.591,M,-20.833,M,,*65 $GPRMC,103target current +00011 +00009 Gain: 211.800,A,4046.008123,N,11913.671976Kp Kd Ki +00015 +00000 +00001 min,W,0.002,48.55,040707,,,A*73 $GPVTGdr maxdr maxa dead: +00030 +00200 ,48.55,T,,M,0.002,N,0.003,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +0001 0 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103212.000,4046.008126,N,11913.671977,W,1,10,0.90,1184.588,M,-20.833, M,,*62 $GPRMC,103212.000,A,4046.008126,N,11913.671977,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103212.200,4000000 encoderSpeed: +00000 curr46.008128,N,11913.671977,W,1,10,0.90,en tSense: -00015 Velocity Steer: 1184.583,M,-20.833,M,,*65 $GPRMC,103target current +00011 +00010 Gain: 212.200,A,4046.008128,N,11913.671977Kp Kd Ki +00015 +00000 +00001 min,W,0.000,48.55,040707,,,A*72 $GPVTG,dr maxdr maxa dead: +00030 +00200 48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encode rSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,1030000 encoderSpeed: +00000 curr212.400,4046.008129,N,11913.671978,W,entSense: -00015 Velocity Steer: 1,10,0.90,1184.581,M,-20.833,M,,*6F target current +00011 +00010 Gain: $GPGSA,A,3,10,16,18,21,30,07,12,29,0Kp Kd Ki +00015 +00000 +00001 min5,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,dr maxdr maxa dead: +00030 +00200 11,06,86,345,29,07,75,313,31,24,74,3+00255 +00010 56,16,21,48,274,38*7B $GPGSV,3,2,11,10,36,049,37,30,30,195,39,29,22,106,35,18,21,204,37 *70 $GPGSV,3,3,11,16,Motor1: +00000 +00000 +00000 18,318,31,05,17,185,38,12,07,173,33*PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 4A $GPRMC,103212.400,A,4046.008129,N,11913.671978,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103212.600,4040000 encoderSpeed: +00000 curr6.008129,N,11913.671977,W,1,10,0.90,1entSense: -00014 Velocity Steer: 184.578,M,-20.833,M ,,*64 $GPRMC,103target current +00011 +00009 Gain: 212.600,A,4046.008129,N,11913.671977,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103212.800,4046.000000 encoderSpeed: +00000 curr08130, N,11913.671978,W,1,10,0.90,1184entSense: -00015 Velocity Steer: .579,M,-20.833,M,,*6C $GPRMC,103212target current +00011 +00010 Gain: .800,A,4046.008130,N,11913.671978,W,0Kp Kd Ki +00015 +00000 +00001 min.001,48.55,040707,,,A*7F $GPVTG,48.5dr maxdr maxa dead: +00030 +00200 5,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +0 0004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103213.0000000 encoderSpeed: +00000 curre,4046.008130,N,11913.671980,W,1,10,0ntSense: -00 015 Velocity Steer: t.90,1184.578,M,-20.833,M,,*63 $GPRMCarget current +00011 +00009 Gain: K,103213.000,A,4046.008130,N,11913.671p Kd Ki +00015 +00000 +00001 min980,W,0.000,48.55,040707,,,A*70 $GPdr maxdr maxa dead: +00030 +00200 VTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpe ed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103213.0000 encoderSpeed: +00000 curre200,4046.008130,N,11913.671981,W,1,1ntSense: -00016 Velocity Steer: t0,0.90,1184.579,M,-20.833,M,,*61 $GParget current +00011 +00010 Gain: KRMC,103213.200,A,4046.008130,N,11913p Kd Ki +00015 +00000 +00001 mind.671981,W,0.000,48.55,040707,,,A*73 r maxdr maxa dead: +00030 +00200 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*0+00255 +00010 1 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpe ed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,1032PID: +00008 +00010 +00004 ISav: +013.400,4046.008131,N,11913.671983,W,10000 encoderSpee d: +00000 curre,10,0.90,1184.576,M,-20.833,M,,*6B ntSense: -00016 Velocity Steer: $GPGSA,A,3,10,16,18,21,30,07,12,29,05target current +00011 +00010 Gain: ,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,1Kp Kd Ki +00015 +00000 +00001 min1,06,86,345,29,07,75,313,31,24,74,35dr maxdr maxa dead: +00030 +00200 6,16,21,48,274,38*7B $GPGSV,3,2,11,1+00255 +00010 0,36,049,37,30,30,195 ,39,29,22,106,35,18,21,204,37*70 $GPGSV,3,3,11,16,1Motor1: +00000 +00000 +00000 8,318,31,05,17,185,38,12,07,173,34*4D $GPRMC,103213.400,A,4046.008131,N,11913.671983,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cu rrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103213.600,4046.008132,N,11913.671985,W,1,10,0.90,1184.574,M,-20.833,M,,*6E $GPRMC,Motor1103213.600,A,4046.008132,N,11913.6719: +00000 +00000 +00000 PID: +000085,W,0.001,48.55,040707,,,A*70 $GPV8 +00010 +00004 ISav: +00000 encTG,48.55,T,,M,0.001,N,0.0 01,K,A*01 oderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +0 0015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +$GPGGA,103213.800,4046.00800010 Motor1: +00000 +00000 +0000132,N,11913.671985,W,1,10,0.90,1184.50 PID: +00008 +00010 +00004 ISav:71,M,-20.833,M,,*65 $GPRMC,103213.8 +00000 encoderSpeed: +00000 cu00,A,4046.008132,N,11913.671985,W,0.rrentSense : -00014 Velocity Steer000,48.55,040707,,,A*7F $GPVTG,48.55: target current +00011 +00009 Gain,T,,M,0.000,N,0.001,K,A*00 : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103214.000,4046.008132,N,11913.671986,W,1,10,0.90,1184.569,M,-20.833,M,,*60 $GPRMC,103214.000,A,4046.008132,N,11913.671986,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103214.200,4046.00800000 encoderSpeed: +00000 curr133,N,11913.671986,W,1,10,0.90,1184.5entSense : -00014 Velocity Steer: 68,M,-20.833,M,,*62 $GPRMC,103214.2target current +00011 +00009 Gain: 00,A,4046.008133,N,11913.671986,W,0.0Kp Kd Ki +00015 +00000 +00001 min00,48.55,040707,,,A*70 $GPVTG,48.55,dr maxdr maxa dead: +00030 +00200 T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: + 00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,10321PID: +00008 +00010 +00004 ISav: +04.400,4046.008133,N,11913.671986,W,10000 encoderSpeed: +00 000 curr,10,0.90,1184.566,M,-20.833,M,,*6A $entSense: -00015 Velocity Steer: GPGSA,A,3,10,16,18,21,30,07,12,29,05,target current +00011 +00010 Gain: 06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11Kp Kd Ki +00015 +00000 +00001 min,06,86,346,30,07,75,313,31,24,74,356dr maxdr maxa dead: +00030 +00200 ,16,21,48,274,38*70 $GPGSV,3,2,11,10+00255 +00010 ,36,049,38,30,30,195,39 ,29,22,106,35,18,21,204,37*7F $GPGSV,3,3,11,16,1Motor1: +00000 +00000 +00000 8,318,31,05,17,185,38,12,07,173,33*4A $GPRMC,103214.400,A,4046.008133,N,11913.671986,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curre nt +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103214.600,4046.008134,N,11913.671989,W,1,10,0.90,1184.562,M,-20.833,M,,*64 $GPRMC,10321Motor14.600,A,4046.008134,N,11913.671989,W: +00000 +00000 +00000 PID: +0000,0.001,48.55,040707,,,A*7D $GPVTG,488 +00010 +00004 ISav: +00000 enc.55,T,,M,0.001,N,0.003,K,A* 03 oderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 + 00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103214.800,4046.0010 Motor1: +00000 +00000 +00000008135,N,11913.671991,W,1,10,0.90,11 PID: +00008 +00010 +00004 ISav: 84.560,M,-20.833,M,,*60 $GPRMC,10321+00000 encoderSpeed: +00000 cur4.800,A,4046.008135,N,11913.671991,WrentSense: -00014 Velocity Steer:,0.001,48.55,040707,,,A*7B $GPVTG,48 t arget current +00011 +00010 Gain:.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +0001 5 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +$GPGGA,103215.000,00010 4046.008135,N,11913.671992,W,1,10,0.90,1184.557,M,-20.833,M,,*6E $GPRMC,103215.000,A,4046.008135,N,11913.671992,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 current Sense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103215.200,4046.008136,N,11913.671994,W,1,10,0.90,1184.555,M,-20.833,M,,*6B $GPRMC, 103215.200,A,4046.008136,N,11913.671994,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 10 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103215.400,4046.008137,N,11913.671995,W,1,10,0.90,1184.553,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,346,30,07,75,313,31,24,74,356,16,21,48,274,38*70 $GPGSV,3,2,11,10,36,049,38,30,30,195,39,29,22,106,35,18,21,204,38*70 $GPGSV,3,3,11,16,18,318,31,05,17,185,38,12,07,173,33*4A Motor1: +00000 +00000 +00000 $GPRMC,103215.400,A,4046.008137,N,11 PID: +00008 +00010 +00004 ISav: +913.671995, W,0.001,48.55,040707,,,A*700000 encoderSpeed: +00000 curr0 $GPVTG,48.55,T,,M,0.001,N,0.001,KentSense: -00014 Velocity Steer: ,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103215.600,4046.PID: +00008 +00010 +00004 ISav: +0008136,N,11913.671997,W,1 ,10,0.90,1180000 encoderSpeed: +00000 curre4.553,M,-20.833,M,,*6A $GPRMC,10321ntSense: -00016 Velocity Steer: t5.600,A,4046.008136,N,11913.671997,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 arget current +0001 1 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0 0200 +00255 +00010 $GPGGA,103215.800,4046.008136,N,11913.671996,W,1,10,0.90,1184.553,M,-20.833,M,,*65 $GPRMC,103215.800,A,4046.008136,N,11913.671996,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +0 0011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103216.000,4046.008135,N,11913.671996,W,1,10,0.90,1184.553,M,-20.833,M,,*6D $GPR MC,103216.000,A,4046.008135,N,11913.671996,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103216.200,4046.008134,N,11913.671996,W,1,10,0.90,1184.552,M,-20.833,M,,*6F $GPRMC,103 216.200,A,4046.008134,N,11913.671996,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: ta rget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103216.400,4046.008135,N,11913.671995,W,1,10,0.90,1184.550,M,-20.833,M,,*69 $G PGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,346,30,07,75,313,31,24,74,356,16,21,48,274,38*70 $GPGSV,3,2,11,10,36,049,38,30,30,195,39,29,22,106,35,18,21,205,38*71 $GPGSV,3,3,11,16,18,318,30,05,17,185,38,12,07,173,32*4A Motor1: +00000 +00000 +00000 $GPRMC,103216.400,A,4046.008135,N,119PID: +00008 +00010 +00004 ISav: +13.671995,W,0 .000,48.55,040707,,,A*700000 encoderSpeed: +00000 curr0 $GPVTG,48.55,T,,M,0.000,N,0.000,K,entSense: -00015 Velocity Steer: A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103216.600,4046.0PID: +00008 +00010 +00004 ISav: +008136,N,11913.671996,W,1,10,0.9 0,11840000 encoderSpeed: +00000 curre.549,M,-20.833,M,,*63 $GPRMC,103216ntSense: -00015 Velocity Steer: t.600,A,4046.008136,N,11913.671996,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +0 0255 +00010 $GPGGA,103216.800,4046.008137,N,11913.671995,W,1,10,0.90,1184.548,M,-20.833,M,,*6E $GPRMC,103216.800,A,4046.008137,N,11913.671995,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103217.000,4046.008138PID: +00008 +00010 +00004 ISav: +,N,11913.671995,W,1,10,0.90,1184.54700000 encoderSpee d: +00000 curr,M,-20.833,M,,*67 $GPRMC,103217.000entSense: -00015 Velocity Steer: ,A,4046.008138,N,11913.671995,W,0.001target current +00011 +00009 Gain: ,48.55,040707,,,A*79 $GPVTG,48.55,T,Kp Kd Ki +00015 +00000 +00001 min,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103217.200,4046.00PID: +00008 +00010 +00004 ISav: +08139,N,11913.671995,W,1,10,0.90,1184.0000 encoderSpeed: +000 00 curre546,M,-20.833,M,,*65 $GPRMC,103217.ntSense: -00016 Velocity Steer: t200,A,4046.008139,N,11913.671995,W,0arget current +00011 +00011 Gain: K.000,48.55,040707,,,A*7B $GPVTG,48.5p Kd Ki +00015 +00000 +00001 min5,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103217.4PID: +00008 +00010 +00004 ISav: +000,4046.008140,N,11913.671996,W,1,100000 encoderSpeed: +00000 curre ,0.90,1184.544,M,-20.833,M,,*6C $GPGntSense: -00015 Velocity Steer: tSA,A,3,10,16,18,21,30,07,12,29,05,06,arget current +00011 +00009 Gain: K,,1.58,0.90,1.30*06 $GPGSV,3,1,11,0p Kd Ki +00015 +00000 +00001 min6,86,346,30,07,75,313,31,24,74,356,16dr maxdr maxa dead: +00030 +00200 ,21,48,274,38*70 $GPGSV,3,2,11,10,3+00255 +00010 6,049,38,30,30,195,39,29,22,106,35, 18,21,205,38*71 $GPGSV,3,3,11,16,18,318,27,05,17,185,38,12,07,173,30*4E $Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 GPRMC ,103217.400,A,4046.008140,N,11913.671996,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103217.600,4046.00PID: +00008 +00010 +00004 ISav: +08140,N,11913.671996,W,1,10,0.90,1184.0000 encoderSpeed: +00000 curre542,M,-20.833,M,,*68 $GPRMC,103217.ntSense: -00014 Velocity Steer: t600,A,4046.00 8140,N,11913.671996,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSe nse: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103217.800,4046.008140,N,11913.671997,W,1,10,0.90,1184.540,M,-20.833,M,,*65 $GPRMC,103217.800,A,4046.008140,N,11913.671997,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 $GPGGA,103218.000,4046.008 PID: +00008 +00010 +00004 ISav: +140,N,11913.672000,W,1,10,0.90,1184.00000 encoderSpeed: +0000 0 curr539,M,-20.833,M,,*68 $GPRMC,103218.entSense: -00015 Velocity Steer: 000,A,4046.008140,N,11913.672000,W,0.target current +00011 +00010 Gain: 001,48.55,040707,,,A*7F $GPVTG,48.55Kp Kd Ki +00015 +00000 +00001 min,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103218.200,4046.008 PID: +00008 +00010 +00004 ISav: 141,N,11913.672001,W,1,10,0.90,1184.5+00000 encoderSpeed: +0 0000 cur39,M,-20.833,M,,*6A $GPRMC,103218.2rentSense: -00014 Velocity Steer:00,A,4046.008141,N,11913.672001,W,0. target current +00011 +00011 Gain:001,48.55,040707,,,A*7D $GPVTG,48.55 Kp Kd Ki +00015 +00000 +00001 mi,T,,M,0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +000 00 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103218.40PID: +00008 +00010 +00004 ISav: +00,4046.008142,N,11913.672002,W,1,10,0000 encoderSpeed: +00000 curr0. 90,1184.536,M,-20.833,M,,*63 $GPGSentSense: -00015 Velocity Steer: A,A,3,10,16,18,21,30,07,12,29,05,06,target current +00011 +00010 Gain: ,,1.58,0.90,1.30*06 $GPGSV,3,1,11,0Kp Kd Ki +00015 +00000 +00001 min6,86,346,30,07,75,313,31,24,74,356,16dr maxdr maxa dead: +00030 +00200 ,21,48,274,37*7F $GPGSV,3,2,11,10,36+00255 +00010 ,049,37,30,30,195,40,29,22,106,35,18, 21,205,38*70 $GPGSV,3,3,11,16,18,318,31,05,17,185,39,12,07,173,28*41 $GPRMC,103218.400,A,4046.008142,N,11913.672002,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103218.600,4046.008PID: +00008 +00010 +00004 ISav: +142,N,11913.672002,W,1,10,0.90,1184.500000 encoderSpeed: +00000 curr33,M,-20.833,M,,*64 $GPRMC,103218.6entSense: -00015 Velocity Steer: 00,A,4046.008142,N, 11913.672002,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: K p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103218.800,4046.008PID: +00008 +00010 +00004 ISav: +0143,N,11913.672004,W,1,10,0.90,1184.50000 encoderSpeed: +00000 curr32,M,-20.833,M,,*6C $GPRMC,103218.8entSense: -00014 Velocity Steer: 00,A,4046.008143,N,11913.672004,W,0.0target current +0001 1 +00011 Gain: 01,48.55,040707,,,A*70 $GPVTG,48.55,Kp Kd Ki +00015 +00000 +00001 minT,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mind r maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103219.000, PID: +00008 +00010 +00004 ISav: 4046.008144,N,11913.672006,W,1,10,0.9+00000 encoderSpeed: +00000 cur0,1184.531,M,-20.833,M,,*63 $GPRMC,1rentSense: -00015 Velocity Steer:03219.000,A,4046.008144,N,11913.6720 target current +00011 +00010 Gain:06,W,0.001,48.55,040707,,,A*7C $GPVT Kp Kd Ki +00015 +00000 +00001 miG,48.55,T,,M,0.001,N,0.002,K,A*02 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103219.200,4046.008145,N,11913.672007,W,1,10,0.90,1184.530,M,-20.833,M,,*60 $GPRMC,103219.200,A,4046.00 8145,N,11913.672007,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,10321 PID: +00008 +00010 +00004 ISav: 9.400,4046.008144,N,11913.672009,W,1+00000 encoderSpeed: +00000 cur,10,0.90,11 84.529,M,-20.833,M,,*61 $rentSense: -00015 Velocity Steer:GPGSA,A,3,10,16,18,21,30,07,12,29,05, target current +00011 +00009 Gain:06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11 Kp Kd Ki +00015 +00000 +00001 mi,06,86,346,30,07,75,313,31,24,74,356ndr maxdr maxa dead: +00030 +00200,14,21,48,274,37*7D $GPGSV,3,2,11,10 +00255 +00010 ,36,049,37,30,30,195,40,29,22,106,34,18,21, 205,38*71 $GPGSV,3,3,11,16,18,318,28,05,17,185,39,12,07,173,27*46Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00007 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPRMC,10321 9.400,A,4046.008144,N,11913.672009,W,0.002,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103219.600,4046.0081PID: +00008 +00010 +00004 ISav: +044,N,11913.672009,W,1,10,0.90,1184.520000 encoderSpeed: +00000 curre6,M,-20.833,M,,*6C $GPRMC,103219.60ntSense: -00014 Velocity Steer: 0,A,4046.008144,N,1191 3.672009,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103219.800,4046.008145,NPID: +00008 +00010 +00004 ISav: +0,11913.672011,W,1,10,0.90,1184.524,M0000 encoderSpeed: +00000 curre,-20.833,M,,*68 $GPRMC,103219.800,A,ntSense: -00014 Velocity Steer: t4046.008145,N, 11913.672011,W,0.001,48arget current +00011 +00009 Gain: .55,040707,,,A*73 $GPVTG,48.55,T,,MKp Kd Ki +00015 +00000 +00001 min,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103220.000,4PID: +00008 +00010 +00004 ISav: +046.008145,N,11913.672013,W,1,10,0.9000000 encoderSpeed: +00000 curr,1184.5 22,M,-20.833,M,,*6E $GPRMC,10entSense: -00014 Velocity Steer: 3220.000,A,4046.008145,N,11913.67201target current +00011 +00009 Gain: 3,W,0.001,48.55,040707,,,A*73 $GPVTGKp Kd Ki +00015 +00000 +00001 min,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encode rSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103220.200,4046.00814PID: +00008 +00010 +00004 ISav: +05,N,11913.672014,W,1,10,0.90,1184.520000 encoderSpeed: +00000 cu rre1,M,-20.833,M,,*68 $GPRMC,103220.20ntSense: -00016 Velocity Steer: t0,A,4046.008145,N,11913.672014,W,0.00arget current +00011 +00010 Gain: 1,48.55,040707,,,A*76 $GPVTG,48.55,TKp Kd Ki +00015 +00000 +00001 min,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encode rSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103220.400PID: +00008 +00010 +00004 ISav: +0,4046.008146,N,11913.672016,W,1,10,0.0000 encoderSpeed: +00000 curre90,1184.51 9,M,-20.833,M,,*64 $GPGSA,ntSense: -00015 Velocity Steer: tA,3,10,16,18,21,30,07,12,29,05,06,,,1arget current +00011 +00009 Gain: K.58,0.90,1.30*06 $GPGSV,3,1,11,06,p Kd Ki +00015 +00000 +00001 mind86,346,30,07,75,313,31,24,74,356,16,2r maxdr maxa dead: +00030 +00200 1,48,274,37*7F $GPGSV,3,2,11,10,36,0+00255 +00010 49,37,30,30,195,41,29,22,106,34,18,2 1,205,38*70 $GPGSV,3,3,11,16,18,318,29,05,16,185,39,12,07,173,30*40 $GPRMC,103220.400,A,4046.008146,N,11913.672016,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targe t current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103220.600,4046.00814 PID: +00008 +00010 +00004 ISav: +7,N,11913.672017,W,1,10,0.90,1184.5100000 encoderSpeed: +00000 curr7,M,-20.833,M,,*68 $GPRMC,103220.600entSense: -00016 Velocity Steer: ,A,4046.008147,N,11913.6 72017,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103220.800,4046.00814PID: +00008 +00010 +00004 ISav: +07,N,11913.672018,W,1,10,0.90,1184.510000 encoderSpeed: +00000 curre6,M,-20.833,M,,*68 $GPRMC,103220.800ntSense: -00014 Velocity Steer: t,A,4046.008147,N,11913.672018,W,0.000arget current +00011 +000 09 Gain: K,48.55,040707,,,A*73 $GPVTG,48.55,Tp Kd Ki +00015 +00000 +00001 min,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa d ead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103221.000,4046.0 PID: +00008 +00010 +00004 ISav: +08148,N,11913.672018,W,1,10,0.90,118400000 encoderSpeed: +00000 curr.515,M,-20.833,M,,*6D $GPRMC,103221entSense: -00015 Velocity Steer: .000,A,4046.008148,N,11913.672018,W,0target curr ent +00011 +00010 Gain: .000,48.55,040707,,,A*75 $GPVTG,48.5Kp Kd Ki +00015 +00000 +00001 min5,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103221.200,4046.008149,N,11913.672018,W,1,10,0.90,1184.515,M,-20.833,M,,*6E $GPRMC,103221.200,A,4046.008149,N,11913. 672018,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103221.400,PID: +00008 +00010 +00004 ISav: +4046.008150,N,11913.672018,W,1,10,0.900000 encoderSpeed: +00000 curr0,1184.511,M, -20.833,M,,*64 $GPGSA,entSense: -00014 Velocity Steer: A,3,10,16,18,21,30,07,12,29,05,06,,,1target current +00011 +00010 Gain: .58,0.90,1.30*06 $GPGSV,3,1,11,06,8Kp Kd Ki +00015 +00000 +00001 min6,346,30,07,75,313,31,24,74,356,18,21dr maxdr maxa dead: +00030 +00200 ,48,274,37*71 $GPGSV,3,2,11,10,36,04+00255 +00010 9,37,30,30,195,40,29,22,106,33,18,21 ,205,37*79 $GPGSV,3,3,11,16,18,318,32,05,16,185,38,12,07,173,34*4F $GPRMC,103221.400,A,4046.008150,N,11913.672018,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: - 00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103221.600,4046.008151,N,11913.672018,W,1,10,0.90,1184.510,M,-20.833,M,,*66 $GPRMC,103221.600,A,4046.008151,N,11913.672018,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103221.800,4046.008151PID: +00008 +00010 +00004 ISav: +0,N,11913.672017,W,1,10,0.90,1184.5100000 encoderSpeed: +00000 curre,M,-20.833,M,,*67 $GPRMC,103221.800,ntSense: -00015 Velocity Steer: tA,4046.008151,N,11913.672017,W,0.000,arget current +00011 +00010 Gain: 48.55,040707,,,A*7A $GPVTG,48.55,T,,Kp Kd Ki +00015 +00000 +00001 minM,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +000 00 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103222.000,404PID: +00008 +00010 +00004 ISav: +06.008151,N,11913.672019,W,1,10,0.90,0000 encoderSpeed: +00000 curre1184.508,M,-2 0.833,M,,*6B $GPRMC,103ntSense: -00014 Velocity Steer: t222.000,A,4046.008151,N,11913.672019arget current +00011 +00010 Gain: K,W,0.002,48.55,040707,,,A*7D $GPVTG,p Kd Ki +00015 +00000 +00001 min48.55,T,,M,0.002,N,0.003,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0000 0 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103222.200,4046.00PID: +00008 +00010 +00004 ISav: +08152,N,11913.672020,W,1,10,0.90,1184.0000 encoderSpeed: +00000 curre507,M,-20.83 3,M,,*6F $GPRMC,103222.ntSense: -00015 Velocity Steer: t200,A,4046.008152,N,11913.672020,W,0.arget current +00011 +00009 Gain: K000,48.55,040707,,,A*74 $GPVTG,48.55p Kd Ki +00015 +00000 +00001 min,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +000 00 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103222.400,4046.PID: +00008 +00010 +00004 ISav: +0008153,N,11913.672021,W,1,10,0.90,1180000 encoderSpeed: +00000 curre4.505,M,-20.8 33,M,,*6B $GPGSA,A,3,1ntSense: -00015 Velocity Steer: 0,16,18,21,30,07,12,29,05,06,,,1.58,target current +00011 +00009 Gain: 0.90,1.30*06 $GPGSV,3,1,11,06,86,346Kp Kd Ki +00015 +00000 +00001 min,31,07,75,313,32,24,74,356,18,21,48,2dr maxdr maxa dead: +00030 +00200 74,37*73 $GPGSV,3,2,11,10,36,049,37+00255 +00010 ,30,30,195,40,29,22,106,33,18,21,205, 37*79 $GPGSV,3,3,11,16,18,318,30,05,16,185,38,12,07,173,35*4C $GPRMC,103222.400,A,4046.008153,N,11913.672021,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 V elocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103222.600,4046.008152,N,11913.672022,W,1,10,0.90,1184.503,M,-20.833,M,,*6D $GPRMC,103222.600,A,4046.008152,N,11913.672022,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: + 00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103222.800,4046.008152,Motor1: +00000 +00000 +00000 N,11913.672021,W,1,10,0.90,1184.502, PID: +00008 +00010 +00004 ISav: +M,-20.833, M,,*61 $GPRMC,103222.800,A00000 encoderSpeed: +00000 curr,4046.008152,N,11913.672021,W,0.000,4entSense: -00015 Velocity Steer: 8.55,040707,,,A*7F $GPVTG,48.55,T,,target current +00011 +00009 Gain: M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103223.000,4046.008152,Motor1: +00000 +00000 +00000 N,11913.672022,W,1,10,0.90,1184.500,PID: +00008 +00010 +00004 ISav: +0M,-20.833,M,,*69 $GPRMC,103223.000,A0000 encoderSpeed: +00000 curre,4046.008152,N,11913.672022,W,0.000,4ntSense: -00014 Velocity Steer: t8.55,040707,,,A*75 $GPVTG,48.55,T,,arget current +00011 +00011 Gain: KM,0.000,N,0.001,K,A*00 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103223.200,4046.008152,Motor1: +00000 +00000 +00000 N,11913.672022,W,1,10,0.90,1184.498,PID: +00008 +00010 +00004 ISav: +0M,-20.833,M,,*6B $GPRMC,103223.200,A0000 encoderSpeed: +00000 curre,4046.008152,N,11913.672022,W,0.001,4ntSense: -00015 Velocity Steer: t8.55,040707,,,A*76 $GPVTG,48.55,T,,arget current +00011 +00010 Gain: KM,0.001,N,0.002,K,A*02 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103223.400,4Motor1: +00000 +00000 +00000 046.008152,N,11913.672022,W,1,10,0.90 PID: +00008 +00010 +00004 ISav: +,1184.496,M,-20.833,M,,*63 $GPGSA,A,00000 encoderSpeed: +00000 curr3,10,16,18,21,30,07,12,29,05,06,,,1.entSense: -00015 Velocity Steer: 58,0.90,1.30*06 $GPGSV,3,1,11,06,86,target current +00011 +00009 Gain: 346,31,07,75,313,32,24,74,356,18,21,4Kp Kd Ki +00015 +00000 +00001 min8,274,37*73 $GPGSV,3,2,11,10,36,049,dr maxdr maxa dead: +00030 +00200 37,30,30,195,40,29,22,106,33,18,21,2+00255 +00010 05,37*79 $GPGSV,3,3,11,16,18,318,25,05,16,185,38,12,07,173,34*49 $GPRMC,103223.400,A,4046.008152,N,11913.672022,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki $GPGGA,103223.600,4046.008151,N+00015 +00000 +00001 mindr maxdr m,11913.672021,W,1,10,0.90,1184.493,axa dead: +00030 +00200 +00255 +00M,-20.833,M,,*64 $GPRMC,103223.600,A010 Motor1: +00000 +00000 +00000 ,4046.008151,N,11913.672021,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr max dr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103223.800,4046.008151,NMotor1: +00000 +00000 +00000 ,11913.672022,W,1,10,0.90,1184.491,MPID: +00008 +00010 +00004 ISav: +0,-20.833,M,,*6B $GPRMC,103223.800,A0000 encoderSpeed: +00000 curre,4046.008151,N,11913.672022,W,0.001,4ntSense: -00013 Velocity Steer: t8.55,040707,,,A*7F $GPVTG,48.55,T,,arget current + 00011 +00011 Gain: KM,0.001,N,0.001,K,A*01 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 + 00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103224.000,4046.008151,N,11913.672022,W,1,10,0.90,1184.489,M,-20.833,M,,*6D $GPRMC,103224.000,A,4046.008151,N,11913.672022,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103224.200,4046.008150,N,11913.672023,W,1,10,0.90,1184.486,M,-20.833,M,,*60 $GPRMC,103224.200,A,4046.008150,N,11913.672023,W,0.001,48. 55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103224.400,4046.008149,N,11913.672024,W,1,10,0.90,1184.484,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.5 8,0.90,1.30*06 $GPGSV,3,1,11,06,86,346,31,07,75,313,32,24,74,356,18,21,48,274,37*73 $GPGSV,3,2,11,10,36,049,37,30,30,195,40,29,22,106,34,18,21,205,37*7E $GPGSV,3,3,11,16,18,318,28,05,16,185,38,12,07,173,32*42 $GPRMC,103224.400,A,4046.008149,N,11913.672Motor1: +00000 +00000 +00000 024,W,0.001,48.55,040707,,,A*7B $GPV PID: +00008 +00010 +00004 ISav: +TG,48.55,T,, M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103224.600,4046.008148,N,Motor1: +00000 +00000 +00000 11913.672026,W,1,10,0.90,1184.482,M,PID: +00008 +00010 +00004 ISav: +0-20.833,M,,*6C $G PRMC,103224.600,A,0000 encoderSpeed: +00000 curre4046.008148,N,11913.672026,W,0.001,48ntSense: -00014 Velocity Steer: t.55,040707,,,A*7A $GPVTG,48.55,T,,Marget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00 030 +00200 +00255 +00010 ,0.001,N,0.002,K,A*02 $GPGGA,103224.800,4046.008148,N,Motor1: +00000 +00000 +00000 11913.672028,W,1,10,0.90,1184.481,M,PID: +00008 +00010 +00004 ISav: +-20.833,M,,*6F $GPRMC ,103224.800,A,400000 encoderSpeed: +00000 curr046.008148,N,11913.672028,W,0.001,48.entSense: -00014 Velocity Steer: 55,040707,,,A*7A $GPVTG,48.55,T,,M,target current +00011 +00010 Gain: 0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103225.000,4046.008148,N,119Motor1: +00000 +00000 +00000 13.672028,W,1,10,0.90,1184.480,M,-20. PID: +00008 +00010 +00004 ISav: +833,M,,*67 $GPR MC,103225.000,A,4046.00000 encoderSpeed: +00000 curr008148,N,11913.672028,W,0.000,48.55,entSense: -00014 Velocity Steer: 040707,,,A*72 $GPVTG,48.55,T,,M,0.00target current +00011 +00010 Gain: 0,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103225.200,4046.008149,N,Motor1: +00000 +00000 +00000 11913.672027,W,1,10,0.90,1184.478,M,PID: +00008 +00010 +00004 ISav: +0-20.833,M,,*6C $GPR MC,103225.200,A,40000 encoderSpeed: +00000 curre046.008149,N,11913.672027,W,0.001,48.ntSense: -00015 Velocity Steer: t55,040707,,,A*7F $GPVTG,48.55,T,,M,arget current +00011 +00010 Gain: K0.001,N,0.001,K,A*01 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103225.400,4046.00Motor1: +00000 +00000 +00000 8150,N,11913.672027,W,1,10,0.90,1184.PID: +00008 +00010 +00004 ISav: +0476,M,-20.833,M,,*6C $GPGSA,A ,3,10,0000 encoderSpeed: +00000 curre16,18,21,30,07,12,29,05,06,,,1.58,0.9ntSense: -00015 Velocity Steer: 0,1.30*06 $GPGSV,3,1,11,06,86,346,31target current +00011 +00010 Gain: ,07,75,313,32,24,74,356,17,21,48,274Kp Kd Ki +00015 +00000 +00001 min,37*7C $GPGSV,3,2,11,10,36,049,37,30dr maxdr maxa dead: +00030 +00200 ,30,19 5,41,29,22,106,34,18,21,205,37*+00255 +00010 7F $GPGSV,3,3,11,16,18,318,29,05,16,185,37,12,07,173,32*4C $GPRMC,103225.400,A,4046.008150,N,11913.672027,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103225.600,4046.008151,N,Motor1: +00000 +00000 +00000 11913.672027,W,1,10,0.90,1184.474,M,PID: +00008 +00010 +00004 ISav: +0-20.833,M,,*6D $GPRMC,103225.600,A,40000 encoderSpeed: +00000 curre046.008151,N,11913.672027,W,0.000,48.ntSense: -00015 Velocity Steer: 55,040707,,,A*73 $GPVTG,48.55,T,,M,target current +00011 +00010 Gain: 0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103225.800,4046.008152,N,Motor1: +00000 +00000 +00000 11913.672028,W,1,10,0.90,1184.474,M,-PID: +00008 +00010 +00004 ISav: +020.833,M,,*6F $GPRMC, 103225.800,A,40000 encoderSpeed: +00000 curre046.008152,N,11913.672028,W,0.000,48.ntSense: -00015 Velocity Steer: 55,040707,,,A*71 $GPVTG,48.55,T,,M,target current +00011 +00009 Gain: 0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103226.000,4046.008153,N,Motor1: +00000 +00000 +00000 11913.672028,W,1,10,0.90,1184.472,M,-PID: +00008 +00010 +00004 ISav: +020.833,M,,*63 $GPRMC,103 226.000,A,40000 encoderSpeed: +00000 curre046.008153,N,11913.672028,W,0.001,48.ntSense: -00013 Velocity Steer: 55,040707,,,A*7A $GPVTG,48.55,T,,M,target current +00011 +00010 Gain: 0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103226.200,4046.008153,N,Motor1: +00000 +00000 +00000 11913.672028,W,1,10,0.90,1184.471,M,- PID: +00008 +00010 +00004 ISav: +20.833,M,,*62 $GPRMC,1032 26.200,A,4000000 encoderSpeed: +00000 curr46.008153,N,11913.672028,W,0.000,48.5entSense: -00015 Velocity Steer: 5,040707,,,A*79 $GPVTG,48.55,T,,M,0target current +00011 +00009 Gain: .000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103226.400,4046Motor1: +00000 +00000 +00000 .008155,N,11913.672030,W,1,10,0.90,11 PID: +00008 +00010 +00004 ISav: +84.470,M,-20.833,M,,*6A $GPGSA,A,3, 100000 encoderSpeed: +00000 curr0,16,18,21,30,07,12,29,05,06,,,1.58,entSense: -00015 Velocity Steer:0.90,1.30*06 $GPGSV,3,1,11,06,86,346 target current +00011 +00009 Gain:,32,07,75,313,33,24,74,356,16,21,48,2 Kp Kd Ki +00015 +00000 +00001 mi74,37*7F $GPGSV,3,2,11,10,36,049,37ndr maxdr maxa dead: +00030 +00200,30,30,195,40 ,29,22,106,34,18,21,205 +00255 +00010 ,37*7E $GPGSV,3,3,11,16,18,318,30,05,16,185,37,12,07,173,36*40 $GPRMC,103226.400,A,4046.008155,N,11913.672030,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103226.600,4046.008156,N,Motor1: +00000 +00000 +00000 11913.672032,W,1,10,0.90,1184.471,M,-PID: +00008 +00010 +00004 ISav: +020.833,M,,*68 $GPRMC ,103226.600,A,400000 encoderSpeed: +00000 curre46.008156,N,11913.672032,W,0.001,48.5ntSense: -00015 Velocity Steer: 5,040707,,,A*72 $GPVTG,48.55,T,,M,0target current +00011 +00009 Gain: .001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103226.800,4046.008157,N,1Motor1: +00000 +00000 +00000 1913.672033,W,1,10,0.90,1184.471,M,-2PID: +00008 +00010 +00004 ISav: +00.833,M,,*66 $GPRMC,103226 .800,A,400000 encoderSpeed: +00000 curre46.008157,N,11913.672033,W,0.001,48.5ntSense: -00015 Velocity Steer: 5,040707,,,A*7C $GPVTG,48.55,T,,M,0target current +00011 +00010 Gain: .001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103227.000,4046.008158,N,1Motor1: +00000 +00000 +00000 1913.672033,W,1,10,0.90,1184.472,M,-2PID: +00008 +00010 +00004 ISav: +00.833,M,,*63 $GPRMC,103227 .000,A,4040000 encoderSpeed: +00000 curre6.008158,N,11913.672033,W,0.001,48.5ntSense: -00015 Velocity Steer: 5,040707,,,A*7A $GPVTG,48.55,T,,M,0target current +00011 +00010 Gain: .001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103227.200,4046.008159,N,1Motor1: +00000 +00000 +00000 1913.672034,W,1,10,0.90,1184.474,M,-2 PID: +00008 +00010 +00004 ISav: +0.833,M,,*61 $GPRMC,103227.20 0,A,40400000 encoderSpeed: +00000 curr6.008159,N,11913.672034,W,0.001,48.55entSense: -00014 Velocity Steer: ,040707,,,A*7E $GPVTG,48.55,T,,M,0.target current +00011 +00010 Gain:001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103227.400,4046.Motor1: +00000 +00000 +00000 008159,N,11913.672034,W,1,10,0.90,118 PID: +00008 +00010 +00004 ISav: +4.477,M,-20.833,M,,*64 $GPGSA,A,3,100000 encoderSpeed: +00000 curr0,16,18,21,30,07,12,29,05,06,,,1.58,0entSense: -00015 Velocity Steer: .90,1.30*06 $GPGSV,3,1,11,06,86,346,target current +00011 +00010 Gain: 32,07,76,313,32,24,74,356,16,21,48,2Kp Kd Ki +00015 +00000 +00001 min74,37*7D $GPGSV,3,2,11,10,36,049,36dr maxdr maxa dead: +00030 +00200,30,30,195,40,29,22 ,106,33,18,21,205, +00255 +00010 37*78 $GPGSV,3,3,11,16,18,318,31,05,16,185,37,12,07,173,37*40 $GPRMC,103227.400,A,4046.008159,N,11913.672034,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103227.600,4046.008158,Motor1: +00000 +00000 +00000 N,11913.672033,W,1,10,0.90,1184.478,PID: +00008 +00010 +00004 ISav: +0M,-20.833,M,,*6F $GPRMC,1 03227.600,A0000 encoderSpeed: +00000 curre,4046.008158,N,11913.672033,W,0.001,4ntSense: -00015 Velocity Steer: t8.55,040707,,,A*7C $GPVTG,48.55,T,,arget current +00011 +00009 Gain: M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103227.800,4046.008159,N,11913Motor1: +00000 +00000 +00000 .672034,W,1,10,0.90,1184.476,M,-20.83PID: +00008 +00010 +00004 ISav: +3,M,,*69 $GPRMC,103227.800,A,4 046.0000000 encoderSpeed: +00000 curr8159,N,11913.672034,W,0.001,48.55,04entSense: -00016 Velocity Steer: 0707,,,A*74 $GPVTG,48.55,T,,M,0.001,target current +00011 +00010 Gain: N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103228.000,4046.008160,Motor1: +00000 +00000 +00000 N,11913.672036,W,1,10,0.90,1184.475, PID: +00008 +00010 +00004 ISav: +M,-20.833,M,,*65 $GPRMC,103228.000,A0 0000 encoderSpeed: +00000 curr,4046.008160,N,11913.672036,W,0.001,4entSense: -00015 Velocity Steer: 8.55,040707,,,A*7B $GPVTG,48.55,T,,target current +00011 +00010 Gain: M,0.001,N,0.003,K,A*03 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103228.200,4Motor1: +00000 +00000 +00000 046.008161,N,11913.672038,W,1,10,0.9PID: +00008 +00010 +00004 ISav: +00,1184.476,M,-20.833,M,,*6B $GPRMC,10000 enc oderSpeed: +00000 curr03228.200,A,4046.008161,N,11913.6720entSense: -00015 Velocity Steer: 38,W,0.001,48.55,040707,,,A*76 $GPVTtarget current +00011 +00010 Gain: G,48.55,T,,M,0.001,N,0.003,K,A*03 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103228.40Motor1: +00000 +00000 +00000 0,4046.008163,N,11913.672039,W,1,10,0 PID: +00008 +00010 +00004 ISav: +.90,1184.475,M,-20.833,M,,*6D $GPGSA00000 encoderS peed: +00000 curr,A,3,10,16,18,21,30,07,12,29,05,06,,,entSense: -00013 Velocity Steer:1.58,0.90,1.30*06 $GPGSV,3,1,11,06, target current +00011 +00010 Gain:86,346,32,07,76,313,32,24,74,356,16,2 Kp Kd Ki +00015 +00000 +00001 mi1,48,274,37*7D $GPGSV,3,2,11,10,36,0ndr maxdr maxa dead: +00030 +0020049,36,30,3 0,195,40,29,22,106,33,18,2 +00255 +00010 1,205,37*78 $GPGSV,3,3,11,16,18,318,32,05,16,185,38,12,07,173,37*4C $GPRMC,103228.400,A,4046.008163,N,11913.672039,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103228.600,4046.008163,N,11Motor1: +00000 +00000 +00000 913.672040,W,1,10,0.90,1184.475,M,-20PID: +00008 +00010 +00004 ISav: +0.833,M,,* 61 $GPRMC,103228.600,A,40460000 encoderSpeed: +00000 curre.008163,N,11913.672040,W,0.000,48.55ntSense: -00015 Velocity Steer: t,040707,,,A*7E $GPVTG,48.55,T,,M,0.0arget current +00011 +00009 Gain: 00,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103228.800,4046.008162,N,11Motor1: +00000 +00000 +00000 913.672040,W,1,10,0.90,1184.477,M,-20PID: +00008 +00010 +00004 ISav: +0.833,M,,*6C $GPRMC,103228.800,A,40 460000 encoderSpeed: +00000 curre.008162,N,11913.672040,W,0.001,48.55ntSense: -00014 Velocity Steer: ,040707,,,A*70 $GPVTG,48.55,T,,M,0.0target current +00011 +00010 Gain: 01,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103229.000,4046.008162,N,119Motor1: +00000 +00000 +00000 13.672039,W,1,10,0.90,1184.480,M,-20PID: +00008 +00010 +00004 ISav: +0.833,M,,*63 $GPRMC,103229.000,A,4 0460000 encoderSpeed: +00000 curre.008162,N,11913.672039,W,0.000,48.55ntSense: -00015 Velocity Steer: ,040707,,,A*76 $GPVTG,48.55,T,,M,0.0target current +00011 +00009 Gain: 00,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103229.200,4046.008161,N,119Motor1: +00000 +00000 +00000 13.672040,W,1,10,0.90,1184.481,M,-20.PID: +00008 +00010 +00004 ISav: +0833,M,,*6D $GPRMC,103229.200,A,40460 000 encoderSpeed: +00000 curre.008161,N,11913.672040,W,0.001,48.55ntSense: -00015 Velocity Steer: ,040707,,,A*78 $GPVTG,48.55,T,,M,0.0target current +00011 +00010 Gain: 01,N,0.003,K,A*03 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103229.400,4046.00Motor1: +00000 +00000 +000008161,N,11913.672041,W,1,10,0.90,1184. PID: +00008 +00010 +00004 ISav: 481,M,-20.833,M,,*6A $GPGSA,A,3,10,+00000 encod erSpeed: +00000 cur16,18,21,30,07,12,29,05,06,,,1.58,0.9rentSense: -00014 Velocity Steer:0,1.30*06 $GPGSV,3,1,11,06,86,346,32 target current +00011 +00010 Gain:,07,76,313,32,24,74,356,18,21,48,274 Kp Kd Ki +00015 +00000 +00001 mi,35*71 $GPGSV,3,2,11,10,36,049,36,3ndr maxdr maxa dead: +00030 +002000,30 ,195,40,29,22,106,32,18,21,205,38 +00255 +00010 *76 $GPGSV,3,3,11,16,18,318,31,05,16,185,38,12,07,173,37*4F $GPRMC,103229.400,A,4046.008161,N,11913.672041,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103229.600,4046.008162,N,11913.672040,W,1,10,0.90,1184.482,M,-20.833,M,,*69 $GPRMC,103229.600,A,4046.008162,N,11913.672040,W,0.001,48.55,0407 07,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103229.800,4046.008163,N,119Motor1: +00000 +00000 +00000 13.672041,W,1,10,0.90,1184.482,M,-20.PID: +00008 +00010 +00004 ISav: +0833,M,,*67 $GPRMC,103229.800,A,4046.000 0 encoderSpeed: +00000 curre008163,N,11913.672041,W,0.001,48.55,ntSense: -00014 Velocity Steer: 040707,,,A*71 $GPVTG,48.55,T,,M,0.00target current +00011 +00009 Gain: 1,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103230.000,4046.008163,N,1191Motor1: +00000 +00000 +00000 3.672040,W,1,10,0.90,1184.482,M,-20.PID: +00008 +00010 +00004 ISav: +0833,M,,*66 $GPRMC,103230.000,A,4046.00 00 encoderSpeed: +00000 curre008163,N,11913.672040,W,0.000,48.55,ntSense: -00017 Velocity Steer: 040707,,,A*71 $GPVTG,48.55,T,,M,0.00target current +00011 +00010 Gain: 0,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103230.200,4046.008164,N,1191Motor1: +00000 +00000 +00000 3.672039,W,1,10,0.90,1184.482,M,-20.8PID: +00008 +00010 +00004 ISav: +033,M,,*6D $GPRMC,103230.200,A,4046.00 00 encoderSpeed: +00000 curre008164,N,11913.672039,W,0.000,48.55,ntSense: -00014 Velocity Steer: t040707,,,A*7A $GPVTG,48.55,T,,M,0.00arget current +00011 +00009 Gain: 0,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103230.400,4046.008Motor1: +00000 +00000 +00000 163,N,11913.672039,W,1,10,0.90,1184.4 PID: +00008 +00010 +00004 ISav: +84,M,-20.833,M,,*6A $GPGSA,A,3,10,100000 encoderS peed: +00000 curr6,18,21,30,07,12,29,05,06,,,1.58,0.90entSense: -00016 Velocity Steer: ,1.30*06 $GPGSV,3,1,11,06,86,346,32target current +00011 +00010 Gain: ,07,76,313,32,24,74,356,18,21,49,274Kp Kd Ki +00015 +00000 +00001 min,36*73 $GPGSV,3,2,11,10,36,049,36,30dr maxdr maxa dead: +00030 +00200,30,195,39,29,22,106,32,18,21,205,39* +00255 +00010 79 $GPGSV,3, 3,11,16,18,318,31,05,16,185,38,12,07,173,36*4E $GPRMC,103230.400,A,4046.008163,N,11913.672039,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki $GPGGA,103230.600,4046.008162,N,1191 +00015 +00000 +00001 mindr maxdr 3.672038,W,1,10,0.90,1184.486,M,-20.8maxa dead: +00030 +00200 +00255 +033,M,,*6A $GPRMC,103230.600,A,4046.00010 08162,N,11913.672038,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103230.800,4046.008162,N,11913.672038,W,1,10,0.90,1184.486,M,-20.833,M,,*64 $GPRMC,103230.800,A,4046.008162,N,11913.672038,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T, ,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103231.000,4046.008162,N,Motor1: +00000 +00000 +00000 11913.672037,W,1,10,0.90,1184.488,M,-PID: +00008 +00010 +00004 ISav: +020.833,M,,*6C $GPRMC,103231.000,A,400000 enc oderSpeed: +00000 curre46.008162,N,11913.672037,W,0.001,48.5ntSense: -00016 Velocity Steer: 5,040707,,,A*70 $GPVTG,48.55,T,,M,0target current +00011 +00010 Gain: .001,N,0.003,K,A*03 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 c urrentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103231.200,4046.008162,N,11913.672037,W,1,10,0.90,1184.489,M,-20.833,M,,*6F $GPRMC,103231.200,A,4046.008162,N,11913.672037,W,0.001,48.55,040707,,,A*72 $GPVTG,48 .55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 + 00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103231.400,4046.008162,N,11913.672039,W,1,10,0.90,1184.488,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1, 11,06,86,346,31,07,76,313,32,24,74,356,19,21,49,274,37*70 $GPGSV,3,2,11,10,36,049,35,30,30,195,39,29,22,106,32,18,21,205,39*7A $GPGSV,3,3,11,16,18,318,33,05,16,185,38,12,07,173,36*4C $GPRMC,103231.400,A,4046.008162,N,11913.672039,W,0.001,48.55,040707,,,A*7A $GPMotor1: +00000 +00000 +00000 VTG,48.55,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +000 00 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103231.600,4046.008163,N,11913.672040,W,1,10,0.90,1184.488,M,-20.833,M,,*6B $GPRMC,103231.600,A,4046.008163,N,11913.672040,W,0.001,48.55,040707 ,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Stee r: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103231.800,4046.008163,N,11913.672039,W,1,10,0.90,1184.487,M,-20.833,M,,*64 $GPRMC,103231.800,A,4046.008163,N,11913.672039,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0. 000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Stee r: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103232.000,4046.008164,N,11913.672039,W,1,10,0.90,1184.486,M,-20.833,M,,*69 $GPRMC,103232.000,A,4046.008164,N,11913.672039,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0. 000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Ste er: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103232.200,4046.008164,N,11913.672040,W,1,10,0.90,1184.485,M,-20.833,M,,*66 $GPRMC,103232.200,A,4046.008164,N,11913.672040,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001 ,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103232.400,4046.008164,N,11913.672043,W,1,10,0.90,1184.484,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,346,3 1,07,76,313,34,24,74,356,21,21,49,274,38*72 $GPGSV,3,2,11,10,36,049,36,30,29,195,40,29,22,106,33,18,21,205,39*7E $GPGSV,3,3,11,16,18,318,33,05,16,185,38,12,07,173,36*4C $GPRMC,103232.400,A,4046.008164,N,11913.672043,W,0.001,48.55,040707,,,A*72 $GPVTG,48.5Motor1: +00000 +00000 +00000 5,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSp eed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103232.600,4046.008164,N,11913.672044,W,1,10,0.90,1184.484,M,-20Motor1: +00000 +00000 +00000 .833,M,,*67 $GPRMC,103232.600,A,404PID: +00008 +00010 +00004 ISav: +06.008164,N, 11913.672044,W,0.001,48.550000 encoderSpeed: +00000 curr,040707,,,A*77 $GPVTG,48.55,T,,M,0.entSense: -00015 Velocity Steer: 001,N,0.002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$010 GPGGA,103232.800,4046.008164,N,11913.672045,W,1,10,0.90,1184.482,M, -20.833,M,,*6E $GPRMC,103232.800,A,4046.008164,N,11913.672045,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0020$GPGGA,103233.000,4046.008163,N,11913.672045,W,1,10,0.90,1184.482,M,-20.833,M,,*60 $GPRMC,103233.000,A,4046.008163,N,11913.672045,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.0 01,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: ta rget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103233.200,4046.008163,N,11913.672047,W,1,11,0.90,1184.48Motor1: +00000 +00000 +00000 1,M,-20.833,M,,*62 $GPRMC,103233.200PID: +00008 +00010 +00004 ISav: +0,A,4046.008163 ,N,11913.672047,W,0.0010000 encoderSpeed: +00000 curre,48.55,040707,,,A*76 $GPVTG,48.55,TntSense: -00015 Velocity Steer: ,,M,0.001,N,0.002,K,A*02 target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103233.400,4046.008163,N,11913.672049,W,1,11,0.Motor1: +00000 +00000 +00000 90,1184.483,M,-20.833,M,,*68 $GPGSA, PID: +00008 +00010 +00004 ISav: +A,3,10,16,18,21,30 ,07,24,12,29,05,06,00000 encoderSpeed: +00000 curr,1.51,0.90,1.21*09 $GPGSV,3,1,11,06entSense: -00015 Velocity Steer: ,86,347,30,07,76,313,34,24,74,356,23target current +00011 +00009 Gain: ,21,49,274,38*70 $GPGSV,3,2,11,10,36Kp Kd Ki +00015 +00000 +00001 min,049,36,30,29,195,40,29,22,106,33,18dr maxdr maxa dead: +00030 +00200 ,21,205,39*7E $G PGSV,3,3,11,16,18,31+00255 +00010 8,34,05,16,185,38,12,07,173,35*48 $GPRMC,103233.400,A,4046.008163,N,11913.672049,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target curr$GPGGA,103233.600,4046.0ent +00011 +0001 0 Gain: Kp Kd Ki 08162,N,11913.672052,W,1,11,0.90,118+00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +003.600,A,4046.008162,N,11913.672052,W,0.002,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103233.800,4046.008163,N,11913.672054,W,1,11,0.90,1184.484,M,Motor1: +00000 +00000 +00000-20.833,M,,*6F $GPRMC,103233.800,A,4 PID: +00008 +00010 +00004 ISav: 046.008163,N,11913 .672054,W,0.001,48.+00000 encoderSpeed: +00000 cur55,040707,,,A*7E $GPVTG,48.55,T,,M,rentSense: -00014 Velocity Steer:0.001,N,0.002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre ntSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103234.000,4046.008163,N,11913.672056,W,1,11,0.90,Motor1: +00000 +00000 +00000 1184.484,M,-20.833,M,,*62 $GPRMC,103 PID: +00008 +00010 +00004 ISav: 234.000,A,4046.008163 ,N,11913.672056+00000 encoderSpeed: +00000 cur,W,0.001,48.55,040707,,,A*73 $GPVTG,rentSense: -00015 Velocity Steer:48.55,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103234.200,4046.008163,N,11913.672059,W,1,11,0.90,Motor1: +00000 +00000 +00000 1184.484,M,-20.833,M,,*6F $GPRMC,103PID: +00008 +00010 +00004 ISav: +234.200,A,4046.008163 ,N,11913.67205900000 encoderSpeed: +00000 curr,W,0.001,48.55,040707,,,A*7E $GPVTG,entSense: -00015 Velocity Steer: 48.55,T,,M,0.001,N,0.002,K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103234.400,4046.008162,N,11913.672060,W,1,11,0.9Motor1: +00000 +00000 +00000 0,1184.484,M,-20.833,M,,*62 $GPGSA,A PID: +00008 +00010 +00004 ISav: +,3,10,16,18,21,30,07 ,24,12,29,05,06,00000 encoderSpeed: +00000 cur,1.51,0.90,1.21*09 $GPGSV,3,1,11,06,rentSense: -00016 Velocity Steer:86,347,30,07,76,313,34,24,74,356,23, target current +00011 +00010 Gain:21,49,274,38*70 $GPGSV,3,2,11,10,36, Kp Kd Ki +00015 +00000 +00001 mi049,36,30,29,195,40,29,22,106,33,18,ndr maxdr maxa dead: +00030 +002 0021,205,39*7E $GPGSV,3,3,11,16,18,318 +00255 +00010 ,34,05,16,185,38,12,07,173,35*48 $GPRMC,103234.400,A,4046.008162,N,11913.672060,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103234.600,4046.008162,N,11913.672061,W,1,10,0.90,1184.484,M,-20.Motor1: +00000 +00000 +00000 833,M,,*60 $GPRMC,103234.600,A,4046.PID: +00008 +00010 +00004 ISav: +008162,N,11913.672061,W,0.001,48.55,00000 encoderSpeed: +00000 curr040707,,,A*70 $GPVTG,48.55,T,,M,0.00entSense: -00012 Velocity Steer: 1,N,0.001,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0 0000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103234.800,4046.008161,N,11913.672062,W,1,10,0.90,1184.483,M,-20.833,MMotor1: +00000 +00000 +00000 ,,*69 $GPRMC,103234.800,A,4046.0081PID: +00008 +00010 +00004 ISav: +61,N,11913.672062,W,0.00 1,48.55,0407000000 encoderSpeed: +00000 curr7,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0entSense: -00015 Velocity Steer: .001,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103235.000,4046.008162,N,11913.672062,W,1,10,0.90,1184.482,M,-20.833,M,,*Motor1: +00000 +00000 +00000 62 $GPRMC,103235.000,A,4046.008162,NPID: +00008 +00010 +00004 ISav: +0,11913.672062,W,0.000, 48.55,040707,,,0000 encoderSpeed: +00000 curreA*75 $GPVTG,48.55,T,,M,0.000,N,0.000ntSense: -00015 Velocity Steer: t,K,A*01 arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103235.200,4046.008161,N,11913.672064,W,1,10,0.90,1184.481,M,-20.833,MMotor1: +00000 +00000 +00000 ,,*66 $GPRMC,103235.200,A,4046.0081 PID: +00008 +00010 +00004 ISav: +61,N,11913.672064,W,0.001,4 8.55,0407000000 encoderSpeed: +00000 curr7,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0entSense: -00016 Velocity Steer: .002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Vel ocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +000$GPGGA,103235.400,4046.008161,N,11913.672066,W,1,10,0.90,1184.480,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,347,30,07,76,313,34,24 ,74,356,22,21,49,274,38*71 $GPGSV,3,2,11,10,36,049,36,30,29,195,40,29,22,106,34,18,21,205,38*78 $GPGSV,3,3,11,16,18,318,34,05,16,185,38,12,07,173,35*48 $GPRMC,103235.400,A,4046.008161,N,11913.672066,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,TMotor1: +00000 +00000 +00000 ,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cu rrentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103235.600,4046.008161,N,11913.672067,W,1,10,0.90,1184.479,M,-20.8Motor1: +00000 +00000 +00000 33,M,,*66 $GPRMC,103235.600,A,4046.0PID: +00008 +00010 +00004 ISav: +008161,N,11913.672067,W,0. 001,48.55,00000 encoderSpeed: +00000 curr40707,,,A*74 $GPVTG,48.55,T,,M,0.001entSense: -00016 Velocity Steer: ,N,0.001,K,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 M otor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 midr maxdr maxa dead: +00030 +00200 +00255 +00$GPG010 GA,103235.800,4046.008162,N,11913.672067,W,1,10,0.90,1184.477 ,M,-20.833,M,,*65 $GPRMC,103235.800,A,4046.008162,N,11913.672067,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +000 15 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GA,103236.000,4046.008162,N,11913.672068,W,1,10,0.90,1184.478,M,-20.833,M,,*6E $GPRMC,103236.000,A,4046.008162,N,11913.672068,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103236.200,4046.008164,N,11913.672070,W,1,10,0.90,1184.479,M,-20.833,M,,*6Motor1: +00000 +00000 +000002 $GPRMC,103236.200,A,4046.008164,N, PID: +00008 +00010 +00004 ISav: 11913.672070,W,0.001,48.55 ,040707,,,A+00000 encoderSpeed: +00000 cur*70 $GPVTG,48.55,T,,M,0.001,N,0.002,rentSense: -00014 Velocity Steer:K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103236.400,4046.008164,N,11913.672070,W,1,10,0.90,1184.480,MMotor1: +00000 +00000 +00000 ,-20.833,M,,*62 $GPGSA,A,3,10,16,18, PID: +00008 +00010 +00004 ISav: 21,30,07,12,29,05,06,,,1.58,0. 90,1.30+00000 encoderSpeed: +00000 cur*06 $GPGSV,3,1,11,06,86,347,31,07,7rentSense: -00013 Velocity Steer:6,313,34,24,74,356,21,21,49,274,38*73 target current +00011 +00010 Gain: $GPGSV,3,2,11,10,36,049,36,30,29,19 Kp Kd Ki +00015 +00000 +00001 mi5,40,29,22,106,34,18,21,205,38*78 $Gndr maxdr maxa dead: +00030 +00200PGSV,3,3,11,16,18,318,35,05,16,185,38,12,07,173,35*49 $GPRMC,103236.400,A,4046.008164,N,11913.672070,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 $GPGGA,103236.600,4046.008165,N,11913.672072,W,1,10,0.90,1184.481,M,-20.833,M,,*62 $GPRMC,103236.600,A,4046.008165,N,11913.672072,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55 ,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +0001 1 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 A,103236.800,4046.008165,N,11913.672073,W,1,10,0.90,1184.484,M,-20.833,M,,*68 $GPRMC,103236.800,A,4046.008165,N,11913.672073,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +000 11 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 A,103237.000,4046.008165,N,11913.672075,W,1,10,0.90,1184.485,M,-20.833,M,,*66 $GPRMC,103237.000,A,4046.008165,N,11913.672075,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 + 00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 A,103237.200,4046.008166,N,11913.672076,W,1,10,0.90,1184.486,M,-20.833,M,,*67 $GPRMC,103237.200,A,4046.008166,N,11913.672076,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103237.400,4046.008167,N,11913.672077,W,1,10,0.90,1184.485,M,Motor1: +00000 +00000 +00000 -20.833,M,,*62 $GPGSA,A,3,10,16,18,2PID: +00008 +00010 +00004 ISav: +1,30,07,12,29,05,06,,,1.58,0.90,1.3 0*00000 encoderSpeed: +00000 curr06 $GPGSV,3,1,11,06,86,347,31,07,76entSense: -00015 Velocity Steer: ,313,34,24,74,356,20,21,49,274,38*72 target current +00011 +00011 Gain: $GPGSV,3,2,11,10,36,049,36,30,29,195Kp Kd Ki +00015 +00000 +00001 min,40,29,22,106,34,18,21,205,38*78 $Gdr maxdr maxa dead: +00 030 +00200 PGSV,3,3,11,16,18,318,35,05,16,185,38,12,07,173,36*4A $GPRMC,103237.400,A,4046.008167,N,11913.672077,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 $GPGGA,103237.600,4046.008168,N,11913.672079,W,1,10,0.90,1184.486,M,-20.833,M,,*62 $GPRMC,103237.600,A,4046.008168,N,11913.672079,W,0.001,48.55,040707,,,A*70 $G PVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +000 00 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,103237.800,4046.008168,N,11913.672079,W,1,10,0.90,1184.488,M,-20.833,M,,*62 $GPRMC,103237.800,A,4046.008168,N,11913.672079,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +000 09 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,103238.000,4046.008169,N,11913.672079,W,1,10,0.90,1184.489,M,-20.833,M,,*65 $GPRMC,103238.000,A,4046.008169,N,11913.672079,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00 010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,103238.200,4046.008169,N,11913.672081,W,1,10,0.90,1184.492,M,-20.833,M,,*6A $GPRMC,103238.200,A,4046.008169,N,11913.672081,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103238.400,4046.008170,N,11913.672081,W,1,10,0.90,1184.494,M,-20.8Motor1: +00000 +00000 +0000033,M,,*62 $GPGSA,A,3,10,16,18,21,30, PID: +00008 +00010 +00004 ISav: 07,12,29,05,06,,,1.58,0.90,1.30*06 +0 0000 encoderSpeed: +00000 cur$GPGSV,3,1,11,06,86,347,32,07,76,313,rentSense: -00016 Velocity Steer:34,24,74,356,20,21,49,274,38*71 $GPG target current +00011 +00009 Gain:SV,3,2,11,10,36,049,37,30,29,195,40, Kp Kd Ki +00015 +00000 +00001 mi29,22,106,36,18,21,205,38*7B $GPGSV,ndr maxdr maxa dead: +00030 +002003,3,11,16,18,318,35,05,16,185,38,12,07,173 ,36*4A $GPRMC,103238.400,A,4046.008170,N,11913.672081,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target c$GPGGA,urrent +00011 +00010 Gain: Kp Kd Ki103238.600,4046.008169,N,11913.672081 +0001 5 +00000 +00001 mindr maxdr,W,1,10,0.90,1184.497,M,-20.833,M,,* maxa dead: +00030 +00200 +00255 +6B $GPRMC,103238.600,A,4046.008169,N,11913.672081,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103238.800,4046.008170,N,11913.672081,W,1,10,0.90,1184.498,M,-20.833,M,,*Motor1: +00000 +00000 +00000 62 $GPRMC,103238.800,A,4046.008170,NPID: +00008 +00010 +00004 ISav: +0,11913.672081,W,0.000,48.55,040707,,0000 encoderSpeed: +00000 curr,A*7E $GPVTG,48.55,T,,M,0.000,N,0.00entSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +0001 5 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 1,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00 200 +00255 +0$GPGGA,10320010 39.000,4046.008170,N,11913.672081,W,1,10,0.90,1184.500,M,-20.833,M,,*6B $GPRMC,103239.000,A,4046.008170,N,11913.672081,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 103239.200,4046.008172,N,11913.672083,W,1,10,0.90,1184.500,M,-20.833,M,,*69 $GPRMC,103239.200,A,4046.008172,N,11913.672083,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103239.400,4046.008173,N,11913.672086,W,1,10,0.90,1184.499,M,-20.83Motor1: +00000 +00000 +00000 3,M,,*6A $GPGSA,A,3,10,16,18,21,30,0PID: +00008 +00010 +00004 ISav: +7,12,29,05,06,,,1.58,0.90,1.30*06 $00000 encoderSpeed: +00000 currGPGSV,3,1,11,06,86,347,32,07,76,313,3entSense: -00016 Velocity Steer: 4,24,74,356,20,21,49,274,39*70 $GPGStarget current +00011 +00010 Gain: V,3,2,11,10,36,049,37,30,29,195,40,2Kp Kd Ki +00015 +00000 +00001 min9,22,106,36,18,21,205,38*7B $GPGSV,dr maxdr maxa dead: +00030 +00200 3,3,11,16,18,318,34,05,16,185,38,12,07,173,36* 4B $GPRMC,103239.400,A,4046.008173,N,11913.672086,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPrent +00011 +00011 Gain: Kp Kd Ki GGA,103239.600,4046.008174,N,11913.67 +00015 +00000 +00001 mindr maxdr 2089,W,1,10,0.90,1184.499,M,-20.833,Mmaxa dead: +00030 +00200 +00255 +0,,*60 $GPRMC,103239.600,A,4046.008174,N,11913.672089,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 0010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: tar get current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,1+00255 +000 10 03239.800,4046.008175,N,11913.672092,W,1,10,0.90,1184.499,M,-20.833,M,,*65 $GPRMC,103239.800,A,4046.008175,NMotor1: +00000 +00000 +00000 ,11913.672092,W,0.001,48.55,040707,,,PID: +00008 +00010 +00004 ISav: +A*79 $GPVTG,48.55,T,,M,0.001,N,0.00300000 encoderSpeed: +00000 curr,K,A*03 entSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103240.000,4046.008176,N,11913. 672094,W,1,10,0.90,1184.498,M,-20.833,M,,*67 $GPRMC,103240.000,A,4046.0Motor1: +00000 +00000 +00000 08176,N,11913.672094,W,0.001,48.55,0PID: +00008 +00010 +00004 ISav: +040707,,,A*7A $GPVTG,48.55,T,,M,0.0010000 encoderSpeed: +00000 curr,N,0.001,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103240.200,4046.008176,N,11913.672096,W,1,10,0.90,1184.499,M,-20.833,M,,*66 $GPRMC,103240.200,A,404Motor1: +00000 +00000 +00000 6.008176,N,11913.672096,W,0.001,48.55PID: +00008 +00010 +00004 ISav: +0,04070 7,,,A*7A $GPVTG,48.55,T,,M,0.0000 encoderSpeed: +00000 curr001,N,0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity St eer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103240.400,4046.008175,N,11913.672097,W,1,10,0.90,1184.499,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,347,32,07,76,313,34,24,74,356,21,21,49,27 4,39*71 $GPGSV,3,2,11,10,36,049,37,30,29,195,41,29,22,106,36,18,21,205,38*7A $GPGSV,3,3,11,16,18,318,34,05,16,185,37,12,07,173,36*44 $GPRMC,103240.400,A,4046.008175,N,11913.672097,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103240.600,4046.008175,N,11913.672099,W,1,10,0.90,1184.497,M,-20.833,M,,*60 $GPRMC,103240.600,A,4046.008175,N,11913.672099,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,10324 +00255 +00010 0.800,4046.008175,N,11913.672101,W,1,10,0.90,1184.494,M,-20.833,M,,*6D $GPRMC,103240.800,A,4046.008175,N,1191Motor1: +00000 +00000 +00000 3.672101,W,0.001,48.55,040707,,,A*7C PID: +00008 +00010 +00004 ISav: + $GPVTG, 48.55,T,,M,0.001,N,0.002,K,A*00000 encoderSpeed: +00000 curr02 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: ta rget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa deadd +00030 +00200 GPGGA,103241.000,4046.008175,N,11913.672103,W,1,10,0.90,1184.493,M,-20.833,M,,*61 $GPRMC,103241.000,A,4046.008175,N,11913.672103,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: t arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10+00255 +00010 3241.200,4046.008176,N,11913.672105,W,1,10,0.90,1184.493,M,-20.833,M,,*66 $GPRMC,103241.200,A,4046.008176,N,11913.672105,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103241.400,4046.008176,N,11913.672107,W,1,10,0.90,1184.492,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,347,31,07,76,313,34,24,74,356,22,21,49,274,39*71 $GP GSV,3,2,11,10,36,049,37,30,29,195,41,29,22,106,35,18,21,205,38*79 $GPGSV,3,3,11,16,18,318,34,05,16,185,38,12,07,173,36*4B $GPRMC,103241.400,A,4046.008176,N,11913.672107,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $ GPGGA,103241.600,4046.008176,N,11913.672109,W,1,10,0.90,1184.492,M,-20.833,M,,*6F $GPRMC,103241.600,A,4046.008176Motor1: +00000 +00000 +00000 ,N,11913.672109,W,0.001,48.55,040707,PID: +00008 +00010 +00004 ISav: +0,,A*78 $GPVTG ,48.55,T,,M,0.001,N,0.0000 encoderSpeed: +00000 curre001,K,A*01 ntSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targe t current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103241.800,4046.008176,N,11913.672110,W,1,11,0.90,1184.494,M,-20.833,M,,*6E $GPRMC,103241.800,A,4046.008176,N,11913.672110,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: tar get current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103242.000,4046.008176,N,11913.672111,W,1,11,0.90,1184.496,M,-20.833,M,,*66 $GPRMC,103242.000,A,Motor1: +00000 +00000 +00000 4046.008176,N,11913.672111,W,0.001,48PID: +00008 +00010 +00004 ISav: +0.55,040707,,,A *74 $GPVTG,48.55,T,,M0000 encoderSpeed: +00000 curr,0.001,N,0.001,K,A*01 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targ et current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103242.+00255 +00010 200,4046.008176,N,11913.672112,W,1,10,0.90,1184.498,M,-20.833,M,,*68 $GPRMC,103242.200,A,4046.008176,N,11913.672112,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103242.400,4046.008177,N,11913.672114,W,1,10,0.90,1184.498,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,Motor1: +00000 +00000 +00000 07,12,29,05,06,,,1.58,0.90,1.30*06 PID: +00008 +00010 +00004 ISav: +$GPGSV,3,1,11,06, 86,347,31,07,76,313,00000 encoderSpeed: +00000 curr34,24,74,356,21,21,49,274,38*73 $GPentSense: -00015 Velocity Steer: GSV,3,2,11,10,36,049,37,30,29,195,41,target current +00011 +00009 Gain: 29,22,106,35,18,21,205,38*79 $GPGSVKp Kd Ki +00015 +00000 +00001 min,3,3,11,16,18,318,34,05,16,185,38,12,dr maxdr maxa dead: +00030 +00200 07,173,37*4A $GPRMC ,103242.400,A,4046.008177,N,11913.672114,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103-00015 Velocity Steer: target cur242.600,4046.008179,N,11913.672116,W,rent +00011 +000 10 Gain: Kp Kd Ki 1,10,0.90,1184.498,M,-20.833,M,,*67 +00015 +00000 +00001 mindr maxdr m $GPRMC,103242.600,A,4046.008179,N,11axa dead: +00030 +00200 +00255 +00010 913.672116,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velo city Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,1032+00255 +00010 42.800,4046.008180,N,11913.672118,W,1,10,0.90,1184.497,M,-20.833,M,,*6E $GPRMC,103242.800,A,4046.008180,N,11Motor1: +00000 +00000 +00000913.672118,W,0.001,48.55,040707,,,A*7 PID: +00008 +00010 +00004 ISav: C $GPVTG,48.55,T,,M, 0.001,N,0.002,K,+00000 encoderSpeed: +00000 curA*02 rentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $G PGGA,103243.000,4046.008181,N,11913.672120,W,1,10,0.90,1184.498,M,-20.833,M,,*62 $GPRMC,103243.000,A,4046.008Motor1: +00000 +00000 +00000 181,N,11913.672120,W,0.001,48.55,0407PID: +00008 +00010 +00004 ISav: +007,,,A*7F $GPVTG,48 .55,T,,M,0.001,N,0000 encoderSpeed: +00000 curr0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GP+00255 +00010 GGA,103243.200,4046.008183,N,11913.672122,W,1,10,0.90,1184.497,M,-20.833,M,,*6F $GPRMC,103243.200,A,4046.008Motor1: +00000 +00000 +00000 183,N,11913.672122,W,0.001,48.55,0407 PID: +00008 +00010 +00004 ISav: +07,,,A*7D $GPVTG,48.55, T,,M,0.001,N,00000 encoderSpeed: +00000 curr0.001,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu rrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103243.400,4046.008184,N,11913.672123,W,1,10,0.90,1184.498,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30,0Motor1: +00000 +00000 +00000 7,12,29,05,06,,,1.58,0.90,1.30*06 $PID: +00008 +00010 +00004 ISav: +GPGSV,3,1,11,06,86,347,3 1,07,76,313,300000 encoderSpeed: +00000 curr4,24,74,357,21,21,49,274,38*72 $GPGSentSense: -00015 Velocity Steer: V,3,2,11,10,36,049,37,30,29,195,41,2target current +00011 +00009 Gain: 9,22,106,35,18,21,205,38*79 $GPGSV,Kp Kd Ki +00015 +00000 +00001 min3,3,11,16,18,318,34,05,16,185,38,12,07,173,37*4A $GPRMC,103243 .400,A,4046.008184,N,11913.672123,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cu$GPGGA,1032rrent +00011 +00011 Gain: Kp Kd Ki 43.600,4046.008185,N,11913.6721 24,W,1 +00015 +00000 +00001 mindr maxdr ,10,0.90,1184.500,M,-20.833,M,,*64 maxa dead: +00030 +00200 +00255 +0$GPRMC,103243.600,A,4046.008185,N,11913.672124,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 0010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr max a dead: +00030 +00200 $GPGGA,1032+00255 +00010 43.800,4046.008185,N,11913.672125,W,1,10,0.90,1184.502,M,-20.833,M,,*69 $GPRMC,103243.800,A,4046.008185,N,11913.672125,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 4.000,4046.008185,N,11913.672125,W,1,10,0.90,1184.503,M,-20.833,M,,*67 $GPRMC,103244.000,A,4046.008185,N,11913.672125,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 4.200,4046.008186,N,11913.672125,W,1,10,0.90,1184.504,M,-20.833,M,,*61 $GPRMC,103244.200,A,4046.008186,N,11913.672125,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $+00255 +00010 GPGGA,103244.400,4046.008186,N,11913.672126,W,1,10,0.90,1184.505,M,-20.833,M,,*65 $GPGSA,A,3,10,16,18,21,30,0Motor1: +00000 +00000 +00000 7,12,29,05,06,,,1.58,0.90,1.30*06 $PID: +00008 +00010 +00004 ISav: +GPGSV,3,1,11,06,86,347,31, 07,76,313,300000 encoderSpeed: +00000 curr4,24,74,357,22,21,49,274,38*71 $GPGSentSense: -00013 Velocity Steer: V,3,2,11,10,36,049,37,30,29,195,41,2target current +00011 +00010 Gain: 9,22,106,35,18,21,205,38*79 $GPGSV,3Kp Kd Ki +00015 +00000 +00001 min,3,11,16,18,318,34,05,16,185,38,12,07dr maxdr maxa dead: +00030 +00200 +00255 +00010 ,173,37*4A $GPRMC,103244.400,A,4046.008186,N,11913.672126,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,10324-00016 Velocity Steer: target cur4.600,4046.008188,N,11913.672 127,W,1rent +00011 +00009 Gain: Kp Kd Ki ,10,0.90,1184.505,M,-20.833,M,,*68 $+00015 +00000 +00001 mindr maxdr mGPRMC,103244.600,A,4046.008188,N,1191axa dead: +00030 +00200 +00255 +00010 3.672127,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSe nse: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10324+00255 +00010 4.800,4046.008189,N,11913.672126,W,1,10,0.90,1184.507,M,-20.833,M,,*64 $GPRMC,103244.800,A,4046.008189,N,1191Motor1: +00000 +00000 +00000 3.672126,W,0.001,48.55,040707,,,A*7E PID: +00008 +00010 +00004 ISav: + $GPVTG,48.55,T,,M,0.001,N,0.001,K,A00000 encoderSpeed: +00000 curr*01 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10324+00255 +00010 5.000,4046.008190,N,11913.672127,W,1,10,0.90,1184.507,M,-20.833,M,,*64 $GPRMC,103245.000,A,4046.008190,N,1191Motor1: +00000 +00000 +00000 3.672127,W,0.001,48.55,040707,,,A*7E PID: +00008 +00010 +00004 ISav: +0 $GPVTG,48.55,T,,M,0.001,N, 0.002,K,A0000 encoderSpeed: +00000 curre*02 ntSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$ +00255 +00010 GPGGA,103245.200,4046.008190,N,11913.672129,W,1,11,0.90,1184.507,M,-20.833,M,,*69 $GPRMC,103245.200,A,4046.00Motor1: +00000 +00000 +00000 8190,N,11913.672129,W,0.001,48.55,04 PID: +00008 +00010 +00004 ISav: 0707,,,A*72 $GPVTG,48.55,T,,M,0. 001,+00000 encoderSpeed: +00000 curN,0.002,K,A*02 rentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +0 0010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103245.400,4046.008191,N,11913.672131,W,1,11,0.90,1184.508,M,-20.833,M,,*68 $GPGSA,A,3,10,16,Motor1: +00000 +00000 +00000 18,21,30,07,24,12,29,05,06,,1.51,0.90PID: +00008 +00010 +00004 ISav: +0,1.21*09 $GPGSV,3,1,11,06,86, 347,310000 encoderSpeed: +00000 curre,07,76,313,34,24,74,357,24,21,49,274ntSense: -00017 Velocity Steer: ,38*77 $GPGSV,3,2,11,10,36,049,37,30target current +00011 +00010 Gain: ,29,195,41,29,22,106,35,18,21,205,38*79 $GPGSV,3,3,11,16,18,318,34,05,16,185,38,12,07,173,37*4A $GPRMC,1032 45.400,A,4046.008191,N,11913.672131,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor$GPGGA,101: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr 3245.600,4046.008191,N,11913.672133,Wmaxa dead: +00030 +00200 +00255 +0,1,10,0.90,1184.510,M,-20.833,M,,*600010 $GPRMC,103245.600,A,4046.008191,N,Motor1: +00000 +00000 +00000 11913.672133,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr entSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103245+00255 +00010 .800,4046.008191,N,11913.672134,W,1,10,0.90,1184.511,M,-20.833,M,,*68 $GPRMC,103245.800,A,4046.008191,N,11913Motor1: +00000 +00000 +00000 .672134,W,0.001,48.55,040707,,,A*75 PID: +00008 +00010 +00004 ISav: +$GPVTG,48.55,T,,M,0.001,N,0.001,K,A*00000 encoderSpeed: +00000 curr01 entSense: -00014 Velocity Steer: targe t current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr m$GPGGA,103246axa dead: +00030 +00200 +0025 5 +00.000,4046.008191,N,11913.672136,W,1,010 10,0.90,1184.511,M,-20.833,M,,*61 $GPRMC,103246.000,A,4046.008191,N,11913Motor1: +00000 +00000 +00000 .672136,W,0.001,48.55,040707,,,A*7C PID: +00008 +00010 +00004 ISav: +$GPVTG,48.55,T,,M,0.001,N,0.001,K,A*000000 encoderSpeed: +00000 curr1 entSense: -00015 V elocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103246.200,4046.008192,N,11913.672137,W,1,10,0.90,1184.513,M,-20.833,M,,*63 $GPRMC,103246.200,A,4046.008192Motor1: +00000 +00000 +00000 ,N,11913.672137,W,0.001,48.55,040707,PID: +00008 +00010 +00004 ISav: +,,A*7C $GPVTG,48.55,T ,,M,0.001,N,0.000000 encoderSpeed: +00000 curr01,K,A*01 entSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103246.400,4046.008192,N,11913.672138,W,1,11,0.90,1184.514,M,-20.833,M,,*6C $GPGSA,A,3,10,16,1Motor1: +00000 +00000 +00000 8,21,30,07,24,12,29,05,06,,1.51,0.90PID: +00008 +00010 +00004 ISav: +,1.21*09 $GPGSV,3,1,11,06,86,347,3 1,00000 encoderSpeed: +00000 curr07,76,313,34,24,74,357,24,21,49,274,entSense: -00015 Velocity Steer: 38*77 $GPGSV,3,2,11,10,36,049,37,30,target current +00011 +00009 Gain: 29,195,41,29,22,106,35,18,21,205,38*7Kp Kd Ki +00015 +00000 +00001 min9 $GPGSV,3,3,11,16,18,318,34,05,16,dr maxdr maxa dead: +00030 +00200 185,38,12,07,173,37*4A $GPRMC,103246.400 ,A,4046.008192,N,11913.672138,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103-00015 Velocity Steer: target cur246.600,4046.008193,N,11913.672140,W,rent +00011 +00009 Gain: Kp Kd Ki 1,10,0.90,1184.515,M,-20.833, M,,*60 +00015 +00000 +00001 mindr maxdr m $GPRMC,103246.600,A,4046.008193,N,11913.672140,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 current Sense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103246.800,4046.008194,N,11913.672141,W,1,10,0.90,1184.515,M,-20.833,M,,*68 $GPRMC,103246.800,A,4046.008194,N,11913.Motor1: +00000 +00000 +00000 672141,W,0.001,48.55,040707,,,A*71 PID: +00008 +00010 +00004 ISav: +0$GPVTG,48.55,T,,M,0.001,N,0.001,K,A*00000 encoderSpeed: +00000 curr1 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targ et current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103247.+00255 +00010 000,4046.008196,N,11913.672142,W,1,10,0.90,1184.514,M,-20.833,M,,*61 $GPRMC,103247.000,A,4046.008196,N,11913.Motor1: +00000 +00000 +00000 672142,W,0.001,48.55,040707,,,A*79 PID: +00008 +00010 +00004 ISav: +$GPVTG,48.55,T,,M,0.001,N,0.003,K,A* 000000 encoderSpeed: +00000 curr3 entSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GP+00255 +00010 GGA,103247.200,4046.008198,N,11913.672145,W,1,11,0.90,1184.514,M,-20.833,M,,*6B $GPRMC,103247.200,A,4046.0081Motor1: +00000 +00000 +00000 98,N,11913.672145,W,0.001,48.55,0407PID: +00008 +00010 +00004 ISav: +07,,,A*72 $GPVTG,48.55,T,,M,0.001,N,00000 encoderSpeed: +00000 curr0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPG +00255 +00010 GA,103247.400,4046.008199,N,11913.672146,W,1,10,0.90,1184.516,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,Motor1: +00000 +00000 +0000012,29,05,06,,,1.58,0.90,1.30*06 $GPG PID: +00008 +00010 +00004 ISav: SV,3,1,11,06,86,347,31,07,76,313,34,2+00 000 encoderSpeed: +00000 cur4,74,357,23,21,49,274,38*70 $GPGSV,3rentSense: -00015 Velocity Steer:,2,11,10,36,049,37,30,29,195,41,29,2 target current +00011 +00009 Gain:2,106,35,18,21,205,38*79 $GPGSV,3,3,11,16,18,318,34,05,16,185,38,12,07,173,36*4B $GPRMC,103247.400,A,4046.008199 ,N,11913.672146,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd K$GPGGA,1032i +00015 +00 000 +00001 mindr max47.600,4046.008202,N,11913.672147,W,dr maxa dead: +00030 +00200 +002551,10,0.90,1184.517,M,-20.833,M,,*6F +00010 $GPRMC,103247.600,A,4046.008202,N,11913.672147,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Veloc ity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103247.800,entSense: -00016 Velocity Steer: 4046.008202,N,11913.672148,W,1,10,0.9target current +00011 +00010 Gain: 0,1184.517,M,-20.8 33,M,,*6E $GPRMC,1Kp Kd Ki +00015 +00000 +00001 min03247.800,A,4046.008202,N,11913.6721dr maxdr maxa dead: +00030 +00200 48,W,0.000,48.55,040707,,,A*74 $GPVT+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +0 0001 mindr maxdr maxa dead: +00G,48.55,T,,M,0.000,N,0.001,K,A*00 030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103248.0ndr maxdr maxa dead: +00030 +0020000,4046.008203,N,11913.6721 49,W,1,10 +00255 +00010 ,0.90,1184.519,M,-20.833,M,,*67 $GPRMC,103248.000,A,4046.008203,N,11913.672149,W,0.001,48.55,040707,,,A*72 $Motor1: +00000 +00000 +00000 GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: ta rget current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103248.200,4046.008204,N,11913.672150,W,1,10,0.90,1184.520,M,-20.833,M,,*60 $GPRMC,103248.200,A,4046.008204,N,11913.672150,W,0.001,48.55,040707,,,A*7F $Motor1: +00000 +00000 +00000 GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav : + 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00 010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGdr maxdr maxa dead: +00030 +00200 A,103248.400,4046.008206,N,11913.6721+00255 +00010 50,W,1,10,0.90,1184.521,M,-20.833,M,,*65 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSMotor1: +00000 +00000 +00000 V,3,1,11,06,86,347,30,07,76,313,33,24PID: +00008 +00010 +00004 IS av: +,74,357,22,21,49,274,37*78 $GPGSV,300000 encoderSpeed: +00000 curr,2,11,10,36,049,37,30,29,195,41,29,22entSense: -00015 Velocity Steer: ,106,34,18,21,205,38*78 $GPGSV,3,3,1target current +00011 +00010 Gain: 1,16,18,318,34,05,16,185,38,12,07,173Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,37*4A $GPRMC,103248.400,A,4046.008206,N,11913.672150,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense:$GPGGA,10324 -00015 Velocity Steer: target cu8.600,4046.008207,N,11913.672150,W,1rrent +00011 +000 09 Gain: Kp Kd Ki ,10,0.90,1184.521,M,-20.833,M,,*66 +00015 +00000 +00001 mindr maxdr $GPRMC,103248.600,A,4046.008207,N,11913.672150,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103248.800,4046.008208,N,11913.672151,W,1,10,0.90,1184.521,M,-20.833,M,,*66 $GPRMC,103248.800,A,4046.008208,N,11913.672151,W,0.001,48.55,040707,,,A*78 $GMotor1: +00000 +00000 +00000 PVTG,48.55,T,,M,0 .001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103249.000,4046.008208,N,1+00255 +00010 1913.672152,W,1,11,0.90,1184.523,M,-20.833,M,,*6F $GPRMC,103249.000,A,4046.008208,N,11913.672152,W,0.001,48.55Motor1: +00000 +00000 +00000 ,040707,,,A*72 $GPVTG,48.55,T,,M,0.PID: +00008 +00010 +00004 ISav: +001 ,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103249.200,4046.008208,N,11913.672153,W,1,11,0.90,1184.523,M,-20.833,M,,*6C $GPRMC,103249.200,A,4046.008208,N,11913.672153,W,0.001,48.55Motor1: +00000 +00000 +00000 ,040707,,,A*71 $GPVTG,48.55,T,,M,0.PID: +00008 +00010 +00004 ISav: +001,N,0.002, K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103249.400,4046.008209,N,11+00255 +00010 913.672153,W,1,10,0.90,1184.525,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06Motor1: +00000 +00000 +00000 $GPGSV,3,1,11,06,86,347,30,07,76,31PID: +00008 +00010 +00004 ISav: +3 ,33,24,74,357,23,21,49,274,36*78 $G00000 encoderSpeed: +00000 currPGSV,3,2,11,10,36,049,38,30,29,195,41entSense: -00014 Velocity Steer: ,29,22,106,34,18,21,205,38*77 $GPGStarget current +00011 +00010 Gain: V,3,3,11,16,18,318,33,05,16,185,38,12Kp Kd Ki +00015 +00000 +00001 min,07,173,37*4D $GPRMC,103249.400,A,4046.008209, N,11913.672153,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103249.600,4046.008209,N,11913.672153,W,1,10,0.90,1184.528,M,-20.833,M,,*63 $GPRMC,103249.600,A,4046.008209,N,11913.672153,W,0.001,48.55,040707,,,A*74 Motor1: +00000 +00000 +00000 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A* PID: +00008 +0001 0 +00004 ISav: 02 +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103249.80 0,4046.008208,N,11913.672151,W,1,10,0.90,1184.531,M,-20.833,M,,*66 $GPRMC,103249.800,A,4046.008208,N,11913.672151,W,0.001,48.55,040707,,,A*79 $GMotor1: +00000 +00000 +00000 PVTG,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 enco derSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGG A,103250.000,4046.008209,N,11913.672151,W,1,11,0.90,1184.532,M,-20.833,M,,*65 $GPRMC,103250.000,A,4046.008209,N,11913.672151,W,0.001,48.55,040707,Motor1: +00000 +00000 +00000 ,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.0PID: +00008 +00010 +00004 ISav: +002,K,A*02 0 000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: targ et current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103250.200,40dr maxdr maxa dead: +00030 +00200 46.008210,N,11913.672151,W,1,10,0.90,+00255 +00010 1184.533,M,-20.833,M,,*6F $GPRMC,103250.200,A,4046.008210,N,11913.672151,W,0.000,48.55,040707,,,A*73 $GPVTG,Motor1: +00000 +00000 +00000 48.55,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +0000 4 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103dr maxdr maxa dead: +00030 +00200 250.400,4046.008211,N,11913.672152,W,+00255 +00010 1,10,0.90,1184.534,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,Motor1: +00000 +00000 +00000 11,06,86,347,30,07,76,313,33,24,74,3PID: +00008 +00010 +00004 ISav: +57,23,21,49,274,36*78 $GPGSV,3,2,11,00000 encoderSpeed: +00000 curr10,36,049,38,30,29,195,41,29,22,106,3entSense: -00013 Velocity Steer: 4,18,21,205,38*77 $GPGSV,3,3,11,16,target current +00011 +00010 Gain: 18,318,33,05,16,185,38,12,07,173,37*Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00 030 +00200 +00255 +00010 4D $GPRMC,103250.400,A,4046.008211,N,11913.672152,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103250.600-00015 Velocity Steer: target cur,4046.008212,N,11913.672153,W,1,10,0.rent +00011 +00010 Gain: Kp Kd Ki 90,1184.535,M,-20.833,M,,*6D $GPRMC,+00015 +00000 +00001 mindr maxdr m103250.600,A,4046.008212,N,11913.672153,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpe ed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103250.800,4046.008212,N,11913.672154,W,1,10,0.90,1184.535,M,-20.833,M,,*64 $GPRMC,103250.800,A,4046.008212,N,11913.672154,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu rrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103251.000dr maxdr maxa dead: +00030 +00200 ,4046.008212,N,11913.672155,W,1,10,0.+00255 +00010 90,1184.536,M,-20.833,M,,*6F $GPRMC,103251.000,A,4046.008212,N,11913.672155,W,0.001,48.55,040707,,,A*77 $GPVMotor1: +00000 +00000 +00000 TG,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target cu rrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103251.200,404dr maxdr maxa dead: +00030 +00200 6.008212,N,11913.672154,W,1,10,0.90,1+00255 +00010 184.539,M,-20.833,M,,*63 $GPRMC,103251.200,A,4046.008212,N,11913.672154,W,0.001,48.55,040707,,,A*74 $GPVTG,4Motor1: +00000 +00000 +00000 8.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur rent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,dr maxdr maxa dead: +00030 +00200 103251.400,4046.008212,N,11913.672153+00255 +00010 ,W,1,10,0.90,1184.541,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3Motor1: +00000 +00000 +00000 ,1,11,06,86,347,31,07,76,313,32,24,74 PID: +00008 +00010 +00004 ISav: +,357,21 ,21,49,274,37*7B $GPGSV,3,2,00000 encoderSpeed: +00000 curr11,10,36,049,38,30,29,195,42,29,22,10entSense: -00015 Velocity Steer: 6,35,18,21,205,38*75 $GPGSV,3,3,11,1target current +00011 +00010 Gain: 6,18,318,33,05,16,185,38,12,07,173,3Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0 0200 +00255 +00010 7*4D $GPRMC,103251.400,A,4046.008212,N,11913.672153,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103251.600,-00015 Velocity Steer: target cur4046.008212,N,11913.672152,W,1,10,0.9rent +00011 +00010 Gain: Kp K d Ki 0,1184.543,M,-20.833,M,,*6C $GPRMC,+00015 +00000 +00001 mindr maxdr m103251.600,A,4046.008212,N,11913.672152,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target c urrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103251.800,entSense: -00015 Velocity Steer: 4046.008213,N,11913.672152,W,1,10,0.9target current +00011 +00008 Gain: 0, 1184.544,M,-20.833,M,,*64 $GPRMC,1Kp Kd Ki +00015 +00000 +00001 min03251.800,A,4046.008213,N,11913.6721dr maxdr maxa dead: +00030 +00200 52,W,0.000,48.55,040707,,,A*78 $GPV+00255 +00010 TG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curre nt +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103252.ndr maxdr maxa dead: +00030 +00200000,4046.008214,N,11913.672150,W,1,1 +00255 +00010 0,0.90,1184.546,M,-20.833,M,,*68 $GPRMC,103252.000,A,4046.008214,N,11913.672150,W,0.001,48.55,040707,,,A*77 Motor1: +00000 +00000 +00000 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*0PID: +00008 +00010 +00004 ISav: +01 0000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,1dr maxdr maxa dead: +00030 +00200 03252.200,4046.008214,N,11913.672150+00255 +00010 ,W,1,10,0.90,1184.546,M,-20.833,M,,*6A $GPRMC,103252.200,A,4046.008214,N,11913.672150,W,0.000,48.55,040707,,,Motor1: +00000 +00000 +00000 A*74 $GPVTG,48.55,T,,M,0.000,N,0.001PID: +00008 +00010 +00004 ISav: +0,K,A*00 0000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +0 0011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103252.400,4046.008216,N,11913+00255 +00010 .672149,W,1,10,0.90,1184.546,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $Motor1: +00000 +00000 +00000 GPGSV,3,1,11,06,86,348,31,07,76,313,3PID: +00008 +00010 +00004 ISav: +2,24,74,357,2 1,21,49,274,37*74 $GPGS00000 encoderSpeed: +00000 currV,3,2,11,10,36,049,38,30,29,195,42,2entSense: -00016 Velocity Steer: 9,22,106,35,18,21,205,38*75 $GPGSV,3target current +00011 +00011 Gain: ,3,11,16,18,318,33,05,16,185,38,12,07,173,36*4C $GPRMC,103252.400,A,4046.008216,N,11913.672149,W,0.001, 48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,1032rent +00011 +00009 Gain: Kp Kd Ki 52.600,4046.008218,N,11913.672149,W, 1+00015 +00000 +00001 mindr maxdr m,10,0.90,1184.546,M,-20.833,M,,*6A axa dead: +00030 +00200 +00255 +00010 $GPRMC,103252.600,A,4046.008218,N,11913.672149,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curre nt +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103252.800,4rentSense: -00014 Velocity Steer:046.008219,N,11913.672148,W,1,10,0.90 target current +00011 +00010 Gain:,1184.548,M,-20.833,M,,*6A $GPRMC,1 Kp Kd Ki +00015 +00000 +00001 mi03252.800,A,4046.008219,N,11913.6721ndr maxdr maxa dead: +00030 +0020048,W,0.001,48.55,040707,,,A*7B $GPVT +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +0G,48.55,T,,M,0.001,N,0.001,K,A*01 0030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103253.000,4dr maxdr maxa dead: +00030 +00200 046.008220,N,11913.672146,W,1,10,0.90+00255 +00010 ,1184.550,M,-20.833,M,,*6E $GPRMC,103253.000,A,4046.008220,N,11913.672146,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103253.200,4 046.008221,N,11913.672145,W,1,10,0.90,1184.552,M,-20.833,M,,*6C $GPRMC,103253.200,A,4046.008221,N,11913.672145,W,0.001,48.55,040707,,,A*76 $GPVTGMotor1: +00000 +00000 +00000 ,48.55,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,10dr maxdr maxa dead: +00030 +00200 3253.400,4046.008222,N,11913.672145,W+00255 +00010 ,1,10,0.90,1184.555,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1Motor1: +00000 +00000 +00000 ,11,06,86,348,31,07,76,313,32,24,74,PID: +00008 +00010 +00004 ISav: +357,23,21,49,274,3 7*76 $GPGSV,3,2,1100000 encoderSpeed: +00000 curr,10,36,049,38,30,29,195,42,29,22,106entSense: -00015 Velocity Steer: ,35,18,21,205,38*75 $GPGSV,3,3,11,16target current +00011 +00010 Gain: ,18,318,33,05,16,185,38,12,07,173,36Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00 255 +00010 *4C $GPRMC,103253.400,A,4046.008222,N,11913.672145,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPG-00015 Velocity Steer: target curGA,103253.600,4046.008223,N,11913.672rent +00011 +00009 Gain: Kp Kd Ki 146,W,1,11,0.90,11 84.557,M,-20.833,M,+00015 +00000 +00001 mindr maxdr m,*6D $GPRMC,103253.600,A,4046.008223,N,11913.672146,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +0001 1 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,10entSense: -00013 Velocity Steer:3253.800,4046.008223,N,11913.672147,W target current +00011 +00010 Gain: ,1,11,0.90,1184.558,M,-20.833,M,,*6D Kp Kd Ki +00015 +00000 +00001 mi $GPRMC,103253.800,A,4046.008223,N,1ndr maxdr maxa dead: +00030 +002001913.672147,W,0.001,48.55,040707,,,A* +00255 +00010 7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103254.000,40 46.008224,N,11913.672148,W,1,10,0.90,1184.559,M,-20.833,M,,*6A $GPRMC,103254.000,A,4046.008224,N,11913.672148,W,0.001,48.55,040707,,,A*7B $GPVTGMotor1: +00000 +00000 +00000 ,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur rentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103254.200,40ndr maxdr maxa dead: +00030 +0020046.008224,N,11913.672148,W,1,10,0.90, +00255 +00010 1184.559,M,-20.833,M,,*68 $GPRMC,103254.200,A,4046.008224,N,11913.672148,W,0.000,48.55,040707,,,A*78 $GPVTG,Motor1: +00000 +00000 +0000048.55,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103 254.400,4046.008225,N,11913.672148,W,1,10,0.90,1184.561,M,-20.833,M,,*64 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,Motor1: +00000 +00000 +00000 11,06,86,348,31,07,76,313,32,24,74,3PID: +00008 +00010 +00004 ISav: +57,23,21,49,274,37*76 $GPGSV,3,2 ,11,00000 encoderSpeed: +00000 curr10,36,049,38,30,29,195,42,29,22,106,3entSense: -00015 Velocity Steer: 4,18,21,205,38*74 $GPGSV,3,3,11,16,target current +00011 +00009 Gain: 18,318,33,05,16,185,38,12,07,173,36*Kp Kd Ki +00015 +00000 +00001 min4C $GPRMC,103254.400,A,4046.008225,Ndr maxdr maxa dead: +00030 +00200 +00255 +00010 ,11913.672148,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,103254.60coderSpeed: +00000 currentSense: 0,4046.008226,N,11913.672147,W,1,10,0-00015 Velocity Steer: target cur.90,1184.564,M,-20.8 33,M,,*6F $GPRMCrent +00011 +00010 Gain: Kp Kd Ki ,103254.600,A,4046.008226,N,11913.672+00015 +00000 +00001 mindr maxdr m147,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 $GPGGA,103254.800,40 46.008226,N,11913.672147,W,1,10,0.90,1184.568,M,-20.833,M,,*6D $GPRMC,103254.800,A,4046.008226,N,11913.672147,W,0.001,48.55,040707,,,A*7E $GPVTG,Motor1: +00000 +00000 +00000 48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 current Sense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +0000 0 +00001 min$GPGGA,103255.dr maxdr maxa dead: +00030 +00200 000,4046.008227,N,11913.672147,W,1,1+00255 +00010 0,0.90,1184.572,M,-20.833,M,,*6E $GPRMC,103255.000,A,4046.008227,N,11913.672147,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*Motor1: +00000 +00000 +00000 01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +0000 0 +00001 min$GPGGA,103255.200,404dr maxdr maxa dead: +00030 +00200 6.008228,N,11913.672146,W,1,10,0.90,1+00255 +00010 184.576,M,-20.833,M,,*66 $GPRMC,103255.200,A,4046.008228,N,11913.672146,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enco derSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 + 00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103255.400,4046.008228,N,1191+00255 +00010 3.672146,W,1,11,0.90,1184.579,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,24,12,29,05,06,,1.51,0.90,1.21*09Motor1: +00000 +00000 +00000 $GPGSV,3,1,11,06,86,348,31,07,76,31PID: +00008 +00010 +00004 ISav: +03,32,24,74,357,23,21,49,274 ,38*79 $G0000 encoderSpeed: +00000 currPGSV,3,2,11,10,36,049,38,30,29,195,4entSense: -00014 Velocity Steer: 2,29,22,106,34,18,21,205,38*74 $GPGStarget current +00011 +00010 Gain: V,3,3,11,16,18,318,34,05,16,185,38,12Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00 010 ,07,173,36*4B $GPRMC,103255.400,A,4046.008228,N,11913.672146,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense:$GPGGA -00016 Velocity Steer: target cu,103255.600,4046.008228,N,11913.67214rrent +00011 +00010 Gain: Kp Kd Ki 5,W,1,11,0.90, 1184.582,M,-20.833,M,,* +00015 +00000 +00001 mindr maxdr 6B $GPRMC,103255.600,A,4046.008228,N,11913.672145,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103255.800,4046.00rentSense: -00015 Velocity Steer:8228,N,11913.672143,W,1,10,0.90,1184. target current +00011 +00010 Gain:585,M,-20.833,M,,*65 $GPRMC,103255. Kp K d Ki +00015 +00000 +00001 mi800,A,4046.008228,N,11913.672143,W,0.ndr maxdr maxa dead: +00030 +00200000,48.55,040707,,,A*74 $GPVTG,48.55 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 min,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103256.000,4046.008229,N,11913.672142,W,1,10,0.90,1184.587,M,-20.833,M,,*6C $GPRMC,103256.000,A,4046.008229,N,11913.672142,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +0 0004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103256.200,4046Kp Kd Ki +00015 +00000 +00001 min.008229,N,11913.672142,W,1,10,0.90,11dr maxdr maxa dead: +00030 +00200 84.588,M,-20.833,M,,*61 $GPRMC,10325+00255 +00010 6.200,A,4046.008229,N,11913.672142,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain:$GPGGA,10325 Kp Kd Ki +00015 +00000 +00001 mi6.400,4046.008231,N,11913.672142,W,1ndr maxdr maxa dead: +00030 +00200,10,0.90,1184.590,M,-20.833,M,,*67 $ +00255 +00010 GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,348,31,07,76,313,32,24,74,357Motor1: +00000 +00000 +00,23,21,49,274,38*79 $GPGSV,3,2,11,1000 PID: +00008 +00010 +00004 ISa0,36,049,38,30,29,195,42,29,22,106,34,v: +00000 encoderSpeed: +00000 18,21,205,38*74 $GPGSV,3,3,11,16,18currentSense: -00014 Velocity Ste,318,34,05,16,185,38,12,07,173,36*4Ber: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPRMC,103256.400,A,4046.008231,N,11913.672142,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense:$GPGGA,103256.600,4046 -00016 Velocity Steer: target cu.008233,N,11913.672142,W,1,10,0.90,11rrent +00011 +00009 Gain: Kp Kd Ki 84.592,M,-20.833,M,,*65 $GPRMC,10325 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 6.600,A,4046.008233,N,11913.672142,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer : target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103256.800,4046rentSense: -00014 Velocity Steer:.008234,N,11913.672141,W,1,10,0.90,11 target current +00011 +00011 Gain:84.594,M,-20.833,M,,*69 $GPRMC,10325 Kp Kd Ki +00015 +00000 +00001 mi6.800,A,4046.008234,N,11913.672141,Wndr maxdr maxa dead: +00030 +00200,0.001,48.55,040707,,,A*79 $GPVTG,48 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 min.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103257.000,4046.008235,N,11913.672140,W,1,10,0.90,1184.596,M,-20.833,M,,*62 $GPRMC,103257.000,A,4046.008235,N,11913.672140,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103257.200,4046.Kp Kd Ki +00015 +00000 +00001 min008236,N,11913.672141,W,1,10,0.90,118dr maxdr maxa dead: +00030 +00200 4.596,M,-20.833,M,,*62 $GPRMC,10325+00255 +00010 7.200,A,4046.008236,N,11913.672141,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103257Kp Kd Ki +00015 +00000 +00001 min.400,4046.008238,N,11913.672141,W,1,dr maxdr maxa dead: +00030 +00200 10,0.90,1184.598,M,-20.833,M,,*64 $G+00255 +00010 PGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,348,31,07,76,313,32,24,74,357,21,21,49,274,38* 7B $GPGSV,3,2,11,10,36,049,38,30,29,195,42,29,22,106,34,18,21,205,38*74 $GPGSV,3,3,11,16,18,318,34,05,16,185,38,12,07,173,36*4B $GPRMC,103257.400,A,4046.008238,N,11913.672141,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocit y Steer: target current +00011 +00010 Gain: $GPGGA,103257.600,4046.Kp Kd Ki +00015 +00000 +00001 min008240,N,11913.672141,W,1,10,0.90,118dr maxdr maxa dead: +00030 +00200 4.600,M,-20.833,M,,*6B $GPRMC,10325+00255 +00010 7.600,A,4046.008240,N,11913.672141,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002 ,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: ta rget current +00011 +00009 Gain: $GPGGA,103257.800,4046.Kp Kd Ki +00015 +00000 +00001 min008242,N,11913.672143,W,1,10,0.90,118dr maxdr maxa dead: +00030 +00200 4.600,M,-20.833,M,,*65 $GPRMC,10325+00255 +00010 7.800,A,4046.008242,N,11913.672143,W,0.002,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.002,N,0.004,K ,A*07 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: ta rget current +00011 +00010 Gain:$GPGGA,103258.000,4046. Kp Kd Ki +00015 +00000 +00001 mi008244,N,11913.672145,W,1,10,0.90,118ndr maxdr maxa dead: +00030 +002004.600,M,-20.833,M,,*62 $GPRMC,10325 +00255 +00010 8.000,A,4046.008244,N,11913.672145,W,0.002,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.002,N,0.003,K ,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: ta rget current +00011 +00009 Gain: $GPGGA,103258Kp Kd Ki +00015 +00000 +00001 min.200,4046.008246,N,11913.672145,W,1,dr maxdr maxa dead: +00030 +00200 10,0.90,1184.603,M,-20.833,M,,*61 $G+00255 +00010 PRMC,103258.200,A,4046.008246,N,11913.672145,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*0 2 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: targe t current +00011 +00009 Gain: $GPGGA,103258.Kp Kd Ki +00015 +00000 +00001 min400,4046.008248,N,11913.672144,W,1,1dr maxdr maxa dead: +00030 +00200 0,0.90,1184.605,M,-20.833,M,,*6E $GP+00255 +00010 GSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,86,348,31,07,76,313,32,24,74,357,2 1,21,49,274,38*7B $GPGSV,3,2,11,10,36,049,37,30,29,195,42,29,22,106,34,18,21,205,38*7B $GPGSV,3,3,11,16,18,318,34,05,16,185,38,12,07,173,36*4B $GPRMC,103258.400,A,4046.008248,N,11913.672144,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103258.600,4046.0Kp Kd Ki +00015 +00000 +00001 min08249,N,11913.672144,W,1,10,0.90,1184dr maxdr maxa dead: +00030 +00200 .608,M,-20.833,M,,*60 $GPRMC,103258+00255 +00010 .600,A,4046.008249,N,11913.672144,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targe t current +00011 +00010 Gain:$GPGGA,103258.800,4046.0 Kp Kd Ki +00015 +00000 +00001 mi08251,N,11913.672143,W,1,10,0.90,1184ndr maxdr maxa dead: +00030 +00200.612,M,-20.833,M,,*6B $GPRMC,103258 +00255 +00010 .800,A,4046.008251,N,11913.672143,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A *01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target c urrent +00011 +00009 Gain: $GPGGA,103259.000,4046.0Kp Kd Ki +00015 +00000 +00001 min08252,N,11913.672142,W,1,10,0.90,1184dr maxdr maxa dead: +00030 +00200 .614,M,-20.833,M,,*66 $GPRMC,103259+00255 +00010 .000,A,4046.008252,N,11913.672142,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103259.200,4046.00Kp Kd Ki +00015 +00000 +00001 min8253,N,11913.672142,W,1,10,0.90,1184.dr maxdr maxa dead: +00030 +00200 617,M,-20.833,M,,*66 $GPRMC,103259.+00255 +00010 200,A,4046.008253,N,11913.672142,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103259.4Kp Kd Ki +00015 +00000 +00001 min00,4046.008254,N,11913.672141,W,1,10dr maxdr maxa dead: +00030 +00200 ,0.90,1184.619,M,-20.833,M,,*6A $GPG+00255 +00010 SA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,31,07,76,313,32,24,74,357,21,21,49,274,38*7A $GP GSV,3,2,11,10,36,049,37,30,29,195,42,29,22,106,34,18,21,205,38*7B $GPGSV,3,3,11,16,18,318,33,05,16,185,37,12,07,173,37*42 $GPRMC,103259.400,A,4046.008254,N,11913.672141,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: t arget current +00011 +00009 Gain: $GPGGA,103259.600,4046.00Kp Kd Ki +00015 +00000 +00001 min8254,N,11913.672142,W,1,10,0.90,1184.dr maxdr maxa dead: +00030 +00200 619,M,-20.833,M,,*6B $GPRMC,103259.+00255 +00010 600,A,4046.008254,N,11913.672142,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu rrent +00011 +00010 Gain:$GPGGA,103259.800,4046.00 Kp Kd Ki +00015 +00000 +00001 mi8255,N,11913.672142,W,1,10,0.90,1184.ndr maxdr maxa dead: +00030 +00200619,M,-20.833,M,,*64 $GPRMC,103259. +00255 +00010 800,A,4046.008255,N,11913.672142,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur rent +00011 +00009 Gain: $GPGGA,103300.000,4046.00Kp Kd Ki +00015 +00000 +00001 min8256,N,11913.672143,W,1,10,0.90,1184.dr maxdr maxa dead: +00030 +00200 621,M,-20.833,M,,*68 $GPRMC,103300.+00255 +00010 000,A,4046.008256,N,11913.672143,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 IS av: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103300.200,4046.00 8257,N,11913.672144,W,1,10,0.90,1184.623,M,-20.833,M,,*6E $GPRMC,103300.200,A,4046.008257,N,11913.672144,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Ste er: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr $GPGGA,103300.400,4046.0 08257,N,11913.672144,W,1,10,0.90,1184.625,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,31,07,76,313,32,24,74,357,19Motor1: +00000 +00000 +00000 ,21,49,274,38*71 $GPGSV,3,2,11,10,36 PID: +00008 +00010 +00004 ISav: +,049,37,30,29,195,41,29,2 2,106,34,18,00000 encoderSpeed: +00000 curr21,205,38*78 $GPGSV,3,3,11,16,18,31entSense: -00016 Velocity Steer: 8,33,05,16,185,37,12,07,173,37*42 $Gtarget current +00011 +00010 Gain: PRMC,103300.400,A,4046.008257,N,11913Kp Kd Ki +00015 +00000 +00001 min.672144,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55 ,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103300.600,4046.008258,N,11913.672144,W,1,10,0.90,1184.626,M,-20.833,M,,*60 $GPRMC,103300.600,A,4046.008258,N,11913.672144,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00006 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103300.800,4046.008Kp Kd Ki +00015 +00000 +00001 min258,N,11913.672144,W,1,10,0.90,1184.6dr maxdr maxa dead: +00030 +00200 27,M,-20.833,M,,*6F $GPRMC,103300.8+00255 +00010 00,A,4046.008258,N,11913.672144,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: $GPGGA,103301.000,4046 Kp Kd Ki +00015 +00000 +00001 mi.008257,N,11913.672144,W,1,10,0.90,11ndr maxdr maxa dead: +00030 +0020084.629,M,-20.833,M,,*67 $GPRMC,10330 +00255 +00010 1.000,A,4046.008257,N,11913.672144,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00009 Gain: $GPGGA,103301.200,Kp Kd Ki +00015 +00000 +00001 min4046.008259,N,11913.672146,W,1,10,0.9dr maxdr maxa dead: +00030 +00200 0,1184.628,M,-20.833,M,,*68 $GPRMC,1+00255 +00010 03301.200,A,4046.008259,N,11913.672146,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103301.400,4046. 008260,N,11913.672148,W,1,10,0.90,1184.628,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,31,07,76,313,32,24,74,357Motor1: +00000 +00000 +00000 ,19,21,49,274,38*71 $GPGSV,3,2,11,10PID: +00008 +00010 +00004 ISav: +0,36,049,37,30,29,195,41,29,22, 106,340000 encoderSpeed: +00000 curr,18,21,205,38*78 $GPGSV,3,3,11,16,1entSense: -00015 Velocity Steer: 8,318,33,05,16,185,37,12,07,173,37*42target current +00011 +00010 Gain: $GPRMC,103301.400,A,4046.008260,N,1Kp Kd Ki +00015 +00000 +00001 min1913.672148,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.0 03,K,A*03 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,103301.600,4046.0082coderSpeed: +00000 currentSense: 61,N,11913.672149,W,1,10,0.90,1184.62-00017 Velocity Steer: target cur9,M,-20.833,M,,*69 $GPRMC,103301.60rent +00011 +00009 Gain: Kp Kd Ki 0,A,4046.008261,N,11913.672149,W, 0.0+00015 +00000 +00001 mindr maxdr m01,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103301.800,4046.008262,N00000 encoderSpeed: +00000 cur,11913.672150,W,1,10,0.90,1184.631,MrentSense: -00014 Velocity Steer:,-20.833,M,,*65 $GPRMC,103301.800,A, target current +00011 +00009 Gain:4046.008262, N,11913.672150,W,0.001,48 Kp Kd Ki +00015 +00000 +00001 mi.55,040707,,,A*79 $GPVTG,48.55,T,,Mndr maxdr maxa dead: +00030 +00200,0.001,N,0.001,K,A*01 +00255 +00010 $GPGGA,103302.000,4 046.008262,N,11913.672152,W,1,10,0.90,1184.633,M,-20.833,M,,*6E $GPRMC,103302.000,A,4046.008262,N,11913.672152,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr $GPGGA,103302.200,4046.0082 63,N,11913.672152,W,1,10,0.90,1184.637,M,-20.833,M,,*69 $GPRMC,103302.200,A,4046.008263,N,11913.672152,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103302.400Kp Kd Ki +00015 +00000 +00001 min,4046.008263,N,11913.672151,W,1,10,0.dr maxdr maxa dead: +00030 +00200 90,1184.640,M,-20.833,M,,*6C $GPGSA+00255 +00010 ,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,31,07,76,313,32,24,74,357,19,2Motor1: +00000 +00000 +00000 1,49,274,38*71 $GPGSV,3,2,11,10,36,0PID: +00008 +00010 +00004 ISav: +049,37,30,29,195,41,29,22,106,34,18,20000 encoderSpeed: +00000 curr1,205,38*78 $GPGSV,3,3,11,16,18,318,entSense: -00015 Velocity Steer: 33,05,16,185,37,12,07,173,37*42 $GPRtarget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 MC,103302.400,A,4046.008263,N,11913.672151,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GPGGA,103302.600,4046.008264,N,11913.672151,W,1,10,0.90,1184.641,M,-20.833,M,,*68 $GPRMC,103302.600,A,4046.008264,N,11913.672151,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +0 0010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gai n: $GPGGA,103302.800,4046.00826Kp Kd Ki +00015 +00000 +00001 min5,N,11913.672151,W,1,10,0.90,1184.64dr maxdr maxa dead: +00030 +00200 3,M,-20.833,M,,*65 $GPRMC,103302.800+00255 +00010 ,A,4046.008265,N,11913.672151,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103303.000,4046.008267,N,11913.6 72152,W,1,10,0.90,1184.642,M,-20.833,M,,*6C $GPRMC,103303.000,A,4046.008267,N,11913.672152,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t arget current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0008 Gain:$GPGGA,103303.200,4046.00826 Kp Kd Ki +00015 +00000 +00001 mi8,N,11913.672153,W,1,10,0.90,1184.64ndr maxdr maxa dead: +00030 +002002,M,-20.833,M,,*60 $GPRMC,103303.200 +00255 +00010 ,A,4046.008268,N,11913.672153,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enco derSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103303.400Kp Kd Ki +00015 +00000 +00001 min,4046.008269,N,11913.672152,W,1,10,0.dr maxdr maxa dead: +00030 +00200 90,1184.643,M,-20.833,M,,*67 $GPGSA,+00255 +00010 A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,31,07,76,313,33,24,74,357,21,21,49,274,38*7B $GPGSV,3,2,11,10,36,04Motor1: +00000 +00000 +00000 9,37,30,29 ,195,40,29,22,106,34,18,21PID: +00008 +00010 +00004 ISav: +,205,38*79 $GPGSV,3,3,11,16,18,318,300000 encoderSpeed: +00000 curr2,05,16,185,37,12,07,173,37*43 $GPRMentSense: -00014 Velocity Steer: C,103303.400,A,4046.008269,N,11913.672152,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*0 1 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103303.600,4046.008270,N,11913.672152,W,1,10,0.90,1184.645,M,-20.833,M,,*6B $GPRMC,103303.600,A,4046.008270,N,11913.672152,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103303.800,4046.008270Kp Kd Ki +00015 +00000 +00001 min,N,11913.672151,W,1,10,0.90,1184.647dr maxdr maxa dead: +00030 +00200 ,M,-20.833,M,,*64 $GPRMC,103303.800,+00255 +00010 A,4046.008270,N,11913.672151,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encod erSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103304.000,4046.0 08270,N,11913.672151,W,1,10,0.90,1184.649,M,-20.833,M,,*65 $GPRMC,103304.000,A,4046.008270,N,11913.672151,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103304.200,404 6.008270,N,11913.672150,W,1,10,0.90,1184.650,M,-20.833,M,,*6E $GPRMC,103304.200,A,4046.008270,N,11913.672150,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103304.400,4046 .008271,N,11913.672150,W,1,10,0.90,1184.652,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,32,07,76,313,33,24,74,357,21,21,49,274,38*78 $GPGSV,3,2,11,10,36,049,37Motor1: +00000 +00000 +00000 ,30,29,195,40,29,22,106,32,18,21,205,PID: +00008 +00010 +00004 ISav: +38*7F $GPGSV,3,3,11,16,18,318,32,05,00000 encoderSpeed: +00000 curr16,185,37,12,07,173,37*43 $GPRMC,10entSense: -00016 Velocity Steer: 3304.400,A,4046.008271,N,11913.672150target current +00011 +00010 Gain: ,W,0.001,48.55,040707,,,A*72 $GPVTGKp Kd Ki +00015 +00000 +00001 min,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +000$GPGGA,103304.600,4046.008271,08 +00010 +00004 ISav: +00000 enN,11913.672151,W,1,10,0.90,1184.653,coderSpeed: +00000 currentSense: M,-20.833,M,,*69 $GPRMC,103304.600,A-00014 Velocity Steer: target cur,4046.008271,N,11913.672151,W,0.000,rent +0 0011 +00010 Gain: Kp Kd Ki 48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103304.800,4046.008273,+00000 encoderSpeed: +00000 curN,11913.672150,W,1,10,0.90,1184.654,rentSense: -00015 Velocity Steer:M,-20.833,M,,*63 $GPRMC,103304.800,A target current +00011 +00009 Gain:,4046.008273,N,11913.672150,W,0.001,4 Kp Kd Ki +00015 +0 0000 +00001 mi8.55,040707,,,A*7C $GPVTG,48.55,T,,ndr maxdr maxa dead: +00030 +00200M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +0001 5 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103305.000,4046.008275,N,11913.672148,W,1,10,0.90,1184.655,M,-20.833,M,,*64 $GPRMC,103305.000,A,4046.008275,N,11913.672148,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 current Sense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103305.200,4046.008275,N,11913.672147,W,1,11 ,0.90,1184.656,M,-20.833,M,,*6B $GPRMC,103305.200,A,4046.008275,N,11913.672147,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity St eer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103305.400,4 046.008276,N,11913.672145,W,1,10,0.90,1184.656,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,32,07,76,313,32,24,74,357,22,21,49,274,38*7A $GPGSV,3,2,11,10,36,049Motor1: +00000 +00000 +00000 ,38,30,29,195,41,29,22,106,31,18,21, PID: +00008 +00010 +00004 ISav: +205,38*72 $GPGSV,3,3,11,16,18,318,3200000 encoderSpeed: +00000 curr,05,16,184,38,12,07,173,36*4C $GPRMCentSense: -00015 Velocity Steer: ,103305.400,A,4046.008276,N,11913.67target current +00011 +00010 Gain: 2145,W,0.001,48.55,040707,,,A*70 $GPKp Kd Ki +00015 +00000 +00001 minVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr max a dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +0000$GPGGA,103305.600,4046.0088 +00010 +00004 ISav: +00000 enc276,N,11913.672144,W,1,10,0.90,1184.6oderSpeed: +00000 currentSense: -55,M,-20.833,M,,*6D $GPRMC,103305.600016 Velocity Steer: target curr00,A,4046.008276,N,11913.672144,W,0.0ent +00011 +00010 Gain: Kp Kd Ki 00,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr m axdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103305.800,4046.008277,N00000 encoderSpeed: +00000 curr,11913.672144,W,1,10,0.90,1184.654,MentSense: -00014 Velocity Steer: ,-20.833,M,,*63 $GPRMC,103305.800,Atarget current +00011 +00011 Gain: ,4046.008277,N,11913.672144,W,0.000,4Kp Kd Ki +00015 +00000 +00001 min8.55,040707,,,A*7D $GPVTG,48.55,T,,dr maxdr maxa dead: +00030 +00200 +00255 +00010 M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103306.000,4046.008278,N,11913.672145,W,1,10,0.90,1184.653,M,-20.833,M,,*61 $GPRMC,103306.000,A,4046.008278,N,11913.672145,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103306.200,4046.008278,Ntarget current +00011 +00010 Gain: ,11913.672146,W,1,10,0.90,1184.653,MKp Kd Ki +00015 +00000 +00001 min,-20.833,M,,*60 $GPRMC,103306.200,A,dr maxdr maxa dead: +00030 +00200 4046.008278,N,11913.672146,W,0.001,48+00255 +00010 .55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A *01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103306.400,40target current +00011 +00009 Gain: 46.008279,N,11913.672146,W,1,10,0.90,Kp Kd Ki +00015 +00000 +00001 min1184.654,M,-20.833,M,,*60 $GPGSA,A,3dr maxdr maxa dead: +00030 +00200 ,10,16,18,21,30,07,12,29,05,06,,,1.5+00255 +00010 8,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,31,07,76,313,32,24,74,357,22 ,21,49,274,38*79 $GPGSV,3,2,11,10,36,049,38,30,29,195,41,29,22,106,32,18,21,205,38*71 $GPGSV,3,3,11,16,18,318,33,05,16,184,38,12,07,173,36*4D $GPRMC,103306.400,A,4046.008279,N,11913.672146,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103306.600,4046.0082 79,N,11913.672147,W,1,10,0.90,1184.654,M,-20.833,M,,*63 $GPRMC,103306.600,A,4046.008279,N,11913.672147,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GP GGA,103306.800,4046.008280,N,target current +00011 +00009 Gain: 11913.672148,W,1,10,0.90,1184.657,M,Kp Kd Ki +00015 +00000 +00001 min-20.833,M,,*67 $GPRMC,103306.800,A,4dr maxdr maxa dead: +00030 +00200 046.008280,N,11913.672148,W,0.001,48+00255 +00010 .55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA, 103307.000,4046.008280,N,119target current +00011 +00010 Gain: 13.672148,W,1,10,0.90,1184.661,M,-20.Kp Kd Ki +00015 +00000 +00001 min833,M,,*6B $GPRMC,103307.000,A,4046.dr maxdr maxa dead: +00030 +00200 008280,N,11913.672148,W,0.001,48.55,+00255 +00010 040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA ,103307.200,4046.008280,N,target current +00011 +00010 Gain: 11913.672145,W,1,10,0.90,1184.663,M,Kp Kd Ki +00015 +00000 +00001 min-20.833,M,,*66 $GPRMC,103307.200,A,4dr maxdr maxa dead: +00030 +00200 046.008280,N,11913.672145,W,0.001,48.+00255 +00010 55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA ,103307.400,4046.00target current +00011 +00010 Gain: 8280,N,11913.672143,W,1,10,0.90,1184.Kp Kd Ki +00015 +00000 +00001 min663,M,-20.833,M,,*66 $GPGSA,A,3,10,dr maxdr maxa dead: +00030 +00200 16,18,21,30,07,12,29,05,06,,,1.58,0.9+00255 +00010 0,1.29*0E $GPGSV,3,1,11,06,87,348,31,07,76,313,32,24,74,357,18,21,49,274,38*70 $GPGSV,3,2,11,10,36,049,38,30Motor1: +00000 +00000 +00000 ,29,195,41,29,22,106,31,18,21,205,38 PID: +00008 +00010 +00004 ISav: +*72 $GPGSV,3,3,11,16,18,318,30,05,1600000 encoderSpeed: +00000 cur,184,38,12,07,173,37*4F $GPRMC,103307.400,A,4046.008280,N,11913.672143,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 rentSense: -00015 V elocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103307.600,4046.008280,N,target current +00011 +00008 Gain: 11913.672143,W,1,10,0.90,1184.663,M,Kp Kd Ki +00015 +00000 +00001 min-20.833,M,,*64 $GPRMC,103307.600,A,4dr maxdr maxa dead: +00030 +00200 046.008280,N,11913.672143,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +0 0009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103307.800,4046.008280,N,rentSense: -00014 Velocity Steer:11913.672142,W,1,10,0.90,1184.663,M,- target current +00011 +00010 Gain:20.833,M,,*6B $GPRMC,103307.800,A,4 Kp Kd Ki +00015 +00000 +00001 mi046.008280,N,11913.672142,W,0.001,48.ndr maxdr maxa dead: +00030 +0020055,040707,,,A*70 $GPVTG,48.55,T,,M, +00255 +00010 0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103308.000,4046.008280,N,target current +00011 +00009 Gain: 11913.672142,W,1,10,0.90,1184.664,M,-Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 20.833,M,,*6B $GPRMC,103308.000,A,4046.008280,N,11913.672142,W,0.000,48.+00255 +00010 55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103308.200,4046.008281,N, 11913.672143,W,1,10,0.90,1184.664,M,-20.833,M,,*69 $GPRMC,103308.200,A,4046.008281,N,11913.672143,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$GPGGA,10330 8.400,4046 target current +00011 +00009 Gain:.008282,N,11913.672145,W,1,10,0.90,11 Kp Kd Ki +00015 +00000 +00001 mi84.664,M,-20.833,M,,*6A $GPGSA,A,3,1ndr maxdr maxa dead: +00030 +002000,16,18,21,30,07,12,29,05,06,,,1.58, +00255 +00010 0.90,1.30*06 $GPGSV,3,1,11,06,87,348,32,07,76,313,33,24,74,357,18,21,49,274,37*7D $GPGSV,3,2,11,10,36,049,3Motor1: +00000 +00000 + 00000 8,30,29,195,41,29,22,106,31,18,21,205 PID: +00008 +00010 +00004 ISav: +,38*72 $GPGSV,3,3,11,16,18,318,31,0500000 encoderSpeed: +00000 curr,16,184,38,12,07,173,37*4E $GPRMC,103308.400,A,4046.008282,N,11913.672145,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103308.600,4046.008283,N,1target current +00011 +00009 Gain: 1913.672145,W,1,10,0.90,1184.666,M,-Kp Kd Ki +00015 +00000 +00001 min20.833,M,,*6B $GPRMC,103308.600,A,40dr maxdr maxa dead: +00030 +00200 46.008283,N,11913.672145,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 c$GPGGA,103308.800,4046.008283,N,1191urrentSense: -00015 Velocity Stee3.672146,W,1,10,0.90,1184.670,M,-20.8r: target current +00011 +00011 Gai33,M,,*61 $GPRMC,103308.800,A,4046.0n: Kp Kd Ki +00015 +00000 +00001 08283,N,11913.672146,W,0.001,48.55,0mindr maxdr maxa dead: +00030 +00240707,,,A*78 $GPVTG,48.55,T,,M,0.00100 +00255 +00010 ,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103309.000,4046.008283,N,11913.672147,W,1,10,0.90,1184.671,M,-20.833,M,,*68 $GPRMC,103309.000,A,4046.008283,N,11913.672147,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed : +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103309.200,4046.008283,N,1 1913.672148,W,1,10,0.90,1184.674,M,-20.833,M,,*60 $GPRMC,103309.200,A,4046.008283,N,11913.672148,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$GPGGA,103309. 400,4046. target current +00011 +00009 Gain:008283,N,11913.672150,W,1,10,0.90,118 Kp Kd Ki +00015 +00000 +00001 mi4.678,M,-20.833,M,,*63 $GPGSA,A,3,1ndr maxdr maxa dead: +00030 +002000,16,18,21,30,07,12,29,05,06,,,1.58,0 +00255 +00010 .90,1.30*06 $GPGSV,3,1,11,06,87,348,32,07,76,313,34,24,74,357,18,21,49,274,38*75 $GPGSV,3,2,11,10,36,049,38Motor1: +00000 +00000 +00 000 ,30,29,195,41,29,22,106,31,18,21,205, PID: +00008 +00010 +00004 ISav: +37*7D $GPGSV,3,3,11,16,18,318,34,05,00000 encoderSpeed: +00000 curr16,184,37,12,07,173,37*44 $GPRMC,103309.400,A,4046.008283,N,11913.672150,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103309.600,4046.008283,target current +00011 +00010 Gain: N,11913.672152,W,1,10,0.90,1184.680,Kp Kd Ki +00015 +00 000 +00001 minM,-20.833,M,,*64 $GPRMC,103309.600,Adr maxdr maxa dead: +00030 +00200 ,4046.008283,N,11913.672152,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103309.800,4046.008283,N,11rentSense: -00016 Velocity Steer:913.672153,W,1,10,0.90,1184.682,M,-20 target current +00011 +00010 Gain.833,M,,*69 $GPRMC,103309.800,A,4046: Kp Kd Ki +000 15 +00000 +00001 m.008283,N,11913.672153,W,0.001,48.55indr maxdr maxa dead: +00030 +0020,040707,,,A*7D $GPVTG,48.55,T,,M,0.0 +00255 +00010 001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103310.000,4046.008282,N,11913.672153,W,1,10,0.90,1184.684,M,-20.833,M,,*6E $GPRMC,103310.000,A,4046.008282,N,11913.672153,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103310.200,404 6.target current +00011 +00010 Gain: 008281,N,11913.672154,W,1,10,0.90,118Kp Kd Ki +00015 +00000 +00001 min4.687,M,-20.833,M,,*6B $GPRMC,10331dr maxdr maxa dead: +00030 +00200 0.200,A,4046.008281,N,11913.672154,W+00255 +00010 ,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en coderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103310.400,4046.008280,N,11913.672155,W,1,10,0.90 ,1184.689,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.30*06 $GPGSV,3,1,11,06,87,348,32,07,76,313,33,24,74,357,22,21,49,274,38*7B $GPGSV,3,2,11,10,36,049,Motor1: +00000 +00000 +00000 38,30,29,195,41,29,22,106,32,18,21,2PID: +00008 +00010 +00004 ISav: +05,36*7F $GPGSV,3,3,11,16,18,31 8,33,00000 encoderSpeed: +00000 curr05,16,184,37,12,07,173,37*43 $GPRMC,entSense: -00013 Velocity Steer: 103310.400,A,4046.008280,N,11913.672target current +00011 +00011 Gain: 155,W,0.001,48.55,040707,,,A*7C $GPKp Kd Ki +00015 +00000 +00001 minVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +0000$GPGGA,103310.600,4046.008280,N8 +00010 +00004 ISav: +00000 en,11913.672156,W,1,10,0.90,1184.693,McoderSpeed: +00000 currentSense: ,-20.833,M,,*69 $GPRMC,103310.600,A,-00015 Velocity Steer: target cur4046.008280,N,11913.672156,W,0.000,48rent +00011 +00010 Gain: Kp Kd Ki .55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00 200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103310.800,4046.008280,N,1100000 encoderSpeed: +00000 cur913.672157,W,1,10,0.90,1184.696,M,-20rentSense: -00014 Velocity Steer:.833,M,,*63 $GPRMC,103310.800,A,4046 target current +00011 +00009 Gain:.008280,N,11913.672157,W,0.000,48.55 Kp Kd Ki +00015 +00000 +00001 mi, 040707,,,A*73 $GPVTG,48.55,T,,M,0.0ndr maxdr maxa dead: +00030 +00200 +00255 +00010 00,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1 : +00000 +00000 +0000$GPGGA,103311.000,4046.008281,N,110 PID: +00008 +00010 +00004 ISav:913.672158,W,1,10,0.90,1184.699,M,-20 +00000 encoderSpeed: +00000 cu.833,M,,*6B $GPRMC,103311.000,A,4046rrentSense: -00016 Velocity Steer.008281,N,11913.672158,W,0.002,48.55: target current +00011 +00009 Gain,040707,,,A* 76 $GPVTG,48.55,T,,M,0.0: Kp Kd Ki +00015 +00000 +00001 m02,N,0.003,K,A*00 indr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103311.200,4046. 008284,N,119target current +00011 +00010 Gain: 13.672160,W,1,10,0.90,1184.699,M,-20.Kp Kd Ki +00015 +00000 +00001 min833,M,,*67 $GPRMC,103311.200,A,4046.dr maxdr maxa dead: +00030 +00200 008284,N,11913.672160,W,0.001,48.55,+00255 +00010 040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enco derSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$GPGGA,103311.400,4046. 00 target current +00011 +00010 Gain:8285,N,11913.672162,W,1,10,0.90,1184 Kp Kd Ki +00015 +00000 +00001 mi.700,M,-20.833,M,,*63 $GPGSA,A,3,10,ndr maxdr maxa dead: +00030 +0020016,18,21,30,07,12,29,05,06,,,1.58,0. +00255 +00010 90,1.30*06 $GPGSV,3,1,11,06,87,348,32,07,76,313,33,24,74,357,18,21,49,274,38*72 $GPGSV,3,2,11,10,36,049,38,3Motor1: +00000 +00000 +00000 0,29,1 95,41,29,22,106,34,18,21,205,36PID: +00008 +00010 +00004 ISav: +*79 $GPGSV,3,3,11,16,18,318,32,05,1600000 encoderSpeed: +00000 curr,184,37,12,07,173,37*42 $GPRMC,103311.400,A,4046.008285,N,11913.672162,W,0.002,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 entSense: -00014 Velocity Steer: target cur rent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103311.600,4046.008285,N,119target current +00011 +00011 Gain: 13.672164,W,1,10,0.90,1184.701,M,-20.Kp Kd Ki +00015 +00000 + 00001 min833,M,,*66 $GPRMC,103311.600,A,4046.dr maxdr maxa dead: +00030 +00200 +00255 +00010 008285,N,11913.672164,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00 015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103311.800,4046.008285,N,119rentSense: -00016 Velocity Steer:13.672165,W,1,10,0.90,1184.704,M,-20. target current +00011 +00009 Gain:833,M,,*6C $GPRMC,103311.800,A,4046. Kp Kd Ki +00015 +00000 +00001 mi008285,N,11913.672165,W,0.000,48.55,ndr maxdr maxa dead: +00030 +00200040707,,,A*76 $GPVTG,48.55,T,,M,0.00 +00255 +00010 0,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr max a dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103312.000,4046.008286,N, PID: +00008 +00010 +00004 ISav: 11913.672166,W,1,10,0.90,1184.705,M,+00000 encoderSpeed: +00000 cur-20.833,M,,*66 $GPRMC,103312.000,A,4rentSense: -00015 Velocity Steer:046.008286,N,11913.672166,W,0.001,48. target current +00011 +0001 0 Gain:55,040707,,,A*7C $GPVTG,48.55,T,,M, Kp Kd Ki +00015 +00000 +00001 mi0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103312.200,4046.008286 ,N,1191target current +00011 +00010 Gain: 3.672167,W,1,10,0.90,1184.707,M,-20.8Kp Kd Ki +00015 +00000 +00001 min33,M,,*67 $GPRMC,103312.200,A,4046.dr maxdr maxa dead: +00030 +00200 008286,N,11913.672167,W,0.001,48.55,+00255 +00010 040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpe ed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103312.400,4046.008tar get current +00011 +00009 Gain: 286,N,11913.672167,W,1,10,0.90,1184.7Kp Kd Ki +00015 +00000 +00001 min09,M,-20.833,M,,*6F $GPGSA,A,3,10,1dr maxdr maxa dead: +00030 +00200 6,18,21,30,07,12,29,05,06,,,1.58,0.90+00255 +00010 ,1.30*06 $GPGSV,3,1,11,06,87,349,32,07,76,313,33,24,74,357,18,21,49,274,39*72 $GPGSV,3,2,11,10,36,049,38, 30,29,195,41,29,22,106,36,18,21,205,36*7B $GPGSV,3,3,11,16,18,318,32,05,16,184,36,12,07,173,37*43 $GPRMC,103312.400,A,4046.008286,N,11913.672167,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103312.600,4046.008284 ,N,1191entSense: -00014 Velocity Steer: 3.672169,W,1,10,0.90,1184.711,M,-20.8target current +00011 +00009 Gain: 33,M,,*68 $GPRMC,103312.600,A,4046.0Kp Kd Ki +00015 +00000 +00001 min08284,N,11913.672169,W,0.001,48.55,0dr maxdr maxa dead: +00030 +00200 40707,,,A*77 $GPVTG,48.55,T,,M,0.001+00255 +00010 ,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103312.800,4046.008284,N ,11913.672169,W,1,10,0.90,1184.712,M,-20.833,M,,*65 $GPRMC,103312.800,A,4046.008284,N,11913.672169,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103313.000,4046.008284,N, 11913.672171,W,1,10,0.90,1184.713,M,-20.833,M,,*64 $GPRMC,103313.000,A,4046.008284,N,11913.672171,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103313.200,4046.008284,N,11913.672171,W,1,10,0.90,1184.713 ,M,-20.833,M,,*66 $GPRMC,103313.200,A,4046.008284,N,11913.672171,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Stee r: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103313.400,4046 .008284,N,11913.672172,W,1,10,0.91,1184.713,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.30*07 $GPGSV,3,1,11,06,87,349,31,07,76,313,33,24,74,357,18,21,49,274,39*71 $GPGSV,3,2,11,10,36,049,38,30,29,195,41,29,22,106,36,18,21,205,Motor1: +00000 +00000 +00000 36*7B $GPGSV,3,3,11,16,18,318,31,05PID: +00008 +00010 +00004 ISav: +0,16,184,3 6,12,07,173,37*40 $GPRMC,100000 encoderSpeed: +00000 curr3313.400,A,4046.008284,N,11913.67217entSense: -00015 Velocity Steer: 2,W,0.000,48.55,040707,,,A*7F $GPVTGtarget current +00011 +00009 Gain: ,48.55,T,,M,0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor$GPGGA,103313.600,4046.008284,1: +00000 +00000 +00000 PID: +000N,11913.672173,W,1,10,0.90,1184.714,08 +00010 +00004 ISav: +00000 enM,-20.833,M,,*67 $GPRMC,103313.600,AcoderSpeed: +00000 currentSense: ,4046.008284,N,11913.672173,W,0.000,-00015 Velocity Steer: target cur48.55,040707,,,A*7C $GPVTG,48.55,T,,rent +000 11 +00009 Gain: Kp Kd Ki M,0.000,N,0.001,K,A*00 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0 0010 Motor1: +00000 +00000 +00000 $GPGGA,103313.800,4046.008282,N,11913 PID: +00008 +00010 +00004 ISav: +.672173,W,1,10,0.90,1184.717,M,-20.8300000 encoderSpeed: +00000 curr3,M,,*6C $GPRMC,103313.800,A,4046.00entSense: -00016 Velocity Steer: 8282,N,11913.672173,W,0.001,48.55,04target current +00011 +00009 Gain: 0707,,,A*75 $GPVTG,48.55,T,,M,0.001,Kp Kd Ki +00015 +00000 +00001 minN,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +000 00$GPGGA,103314.000,4046.008282,N,11913 PID: +00008 +00010 +00004 ISav: .672174,W,1,10,0.90,1184.718,M,-20.83+00000 encoderSpeed: +00000 cur3,M,,*6B $GPRMC,103314.000,A,4046.00rentSense: -00014 Velocity Steer:8282,N,11913.672174,W,0.001,48.55,04 target current +00011 +00010 Gain:0707,,,A*7D $GPVTG,48.55,T,,M,0.001, Kp Kd Ki + 00015 +00000 +00001 miN,0.002,K,A*02 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$0010 Motor1: +00000 +00000 +0 0000GPGGA,103314.200,4046.008281,N,11913. PID: +00008 +00010 +00004 ISav: 672175,W,1,10,0.90,1184.719,M,-20.833+00000 encoderSpeed: +00000 cur,M,,*6A $GPRMC,103314.200,A,4046.00rentSense: -00015 Velocity Steer:8281,N,11913.672175,W,0.000,48.55,04 target current +00011 +00010 Gain:0707,,,A*7C $GPVTG,48.55,T,,M,0.000, Kp Kd Ki +00015 +00000 +00001 miN,0.000,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 + 000$GPGGA,103314.400,4046.008200 PID: +00008 +00010 +00004 ISav81,N,11913.672175,W,1,10,0.90,1184.71: +00000 encoderSpeed: +00000 c9,M,-20.833,M,,*6C $GPGSA,A,3,10,16,urrentSense: -00015 Velocity Stee18,21,30,07,12,29,05,06,,,1.58,0.90,r: target current +00011 +00011 Gai1.30*06 $GPGSV,3,1,11,06,87,349,31,0n: Kp Kd Ki +00015 +00000 +00001 7,76,313,33,24,74,357,18,21 ,49,274,4mindr maxdr maxa dead: +00030 +0020*7F $GPGSV,3,2,11,10,36,049,38,30,29,195,41,29,22,106,36,18,21,205,36*7B $GPGSV,3,3,11,16,18,317,30,05,16,184,36,12,07,173,37*4E $GPRMC,103314.400,A,4046.008281,N,11913.672175,W,0.001,48.55,040707,,,A*7B $GPVTG,48.500 +00255 +00010 5,T,,M,0.001,N,0 .001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr $maxa dead: +00030 +00200 +00255 +0GPGGA,103314.600,4046.008280,N,11913.0010 672176,W,1,10,0.90,1184.718,M,-20.833,M,,*6D $GPRMC,103314.600,A,4 046.008280,N,11913.672176,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$00000 encoderSpeed: +00000 currGPGGA,103314.800,4046.008280,N,11913.entS ense: -00015 Velocity Steer: 672175,W,1,10,0.90,1184.718,M,-20.833target current +00011 +00010 Gain: ,M,,*60 $GPRMC,103314.800,A,4046.008Kp Kd Ki +00015 +00000 +00001 min280,N,11913.672175,W,0.001,48.55,040dr maxdr maxa dead: +00030 +00200 707,,,A*76 $GPVTG,48.55,T,,M,0.001,N+00255 +00010 ,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103315.000,4046.008282,N,11entSen se: -00016 Velocity Steer: 913.672175,W,1,10,0.90,1184.720,M,-20target current +00011 +00009 Gain: .833,M,,*60 $GPRMC,103315.000,A,4046Kp Kd Ki +00015 +00000 +00001 min.008282,N,11913.672175,W,0.001,48.55dr maxdr maxa dead: +00030 +00200 ,040707,,,A*7D $GPVTG,48.55,T,,M,0.0+00255 +00010 01,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$G0000 encoderSpeed: +00000 currPGGA,103315.200,4046.008282,N,11913.6entSens e: -00015 Velocity Steer: 72175,W,1,10,0.90,1184.722,M,-20.833target current +00011 +00009 Gain: ,M,,*60 $GPRMC,103315.200,A,4046.008Kp Kd Ki +00015 +00000 +00001 min282,N,11913.672175,W,0.000,48.55,040dr maxdr maxa dead: +00030 +00200 707,,,A*7E $GPVTG,48.55,T,,M,0.000,N+00255 +00010 ,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103315.400,4046.008283,N,rentSense: - 00015 Velocity Steer:11913.672174,W,1,10,0.90,1184.723,M, target current +00011 +00010 Gain:-20.833,M,,*67 $GPGSA,A,3,10,16,18,2 Kp Kd Ki +00015 +00000 +00001 mi1,30,07,12,29,05,06,,,1.58,0.90,1.30*ndr maxdr maxa dead: +00030 +0020006 $GPGSV,3,1,11,06,87,349,31,07,76 +00255 +00010 ,313,33,24,74,357,18,21,49,274,40*7F $GPGSV,3,2,11,10,36,049,38,30,29,195,41,29,2 2,106,36,18,21,205,36*7B $GMotor1: +00000 +00000 +00000 PGSV,3,3,11,16,18,317,29,05,16,184,36PID: +00008 +00010 +00004 ISav: +0,12,07,173,37*46 $GPRMC,103315.400,A,4046.008283,N,11913.672174,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$G0000 encoderSpeed: +00000 currPGGA,103315.600,4046.008283,N,11913.6entSense: -00015 Velocity Steer: 72174,W,1,10,0.90,1184.725,M,-20.833,target current +00011 +00009 Gain: M,,*63 $GPRMC,103315.600,A,4046.008283,N,11913.672174,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA0000 encoderSpeed: +00000 curr,103315.800,4046.008283,N,11913.67217entSense: -00014 Velocity Steer: 3,W,1,10,0.90,1184.727,M,-20.833,M,,*target current +00011 +00010 Gain: 68 $GPRMC,103315.800,A,4046.008283,Kp Kd Ki +00015 +00000 +00001 minN,11913.672173,W,0.000,48.55,040707,dr maxdr maxa dead: +00030 +00200 ,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103316.000,4046.008283,N,00000 encoderSpeed: +00000 curr11913.672173,W,1,10,0.90,1184.729,M,entSense: -00015 Velocity Steer: -20.833,M,,*6D $GPRMC,103316.000,A,target current +00011 +00010 Gain: 4046.008283,N,11913.672173,W,0.000,48Kp Kd Ki +00015 +00 000 +00001 min.55,040707,,,A*78 $GPVTG,48.55,T,,Mdr maxdr maxa dead: +00030 +00200 ,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00 000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103316.200,4046.008282,N,119010 13.672173,W,1,10,0.90,1184.729,M,-20.833,M,,*6E $GPRMC,103316.200,A,4046.008282,N,11913.672173,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103316.400,4046.008282rentSense: -00015 Velocity Steer:,N,11913.672174,W,1,10,0.90,1184.731 target current +00011 +00010 Gain:,M,-20.833,M,,*66 $GPGSA,A,3,10,16,1 Kp Kd Ki +00015 +00000 +00001 mi8,21,30,07,12,29,05,06,,,1.58,0.90,1.ndr maxdr maxa dead: +00030 +0020030*06 $GPGSV,3,1,11,06,87,349,31,07, +00255 +00010 76,313,33,24,74,357,18,21,49,274,40*7F $GPGSV,3,2,11,10,36,049,38,30,29,195,40,29,22,1 06,36,18,21,205,36*7A Motor1: +00000 +00000 +00000 $GPGSV,3,3,11,16,18,317,31,05,16,184 PID: +00008 +00010 +00004 ISav: +,36,12,07,173,37*4F $GPRMC,103316.400,A,4046.008282,N,11913.672174,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GP0000 encoderSpeed: +00000 currGGA,103316.600,4046.008283,N,11913.67entSense: -00014 Velocity Steer: 2175,W,1,10,0.90,1184.731,M,-20.833,Mtarget current +00011 +00010 Gain: ,,*64 $GPRMC,103316.600,A,4046.008283,N,11913.672175,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,00000 encoderSpeed: +00000 curr103316.800,4046.008283,N,11913.672175entSense: -00015 Velocity Steer: ,W,1,10,0.90,1184.731,M,-20.833,M,,*target current +00011 +00009 Gain: 6A $GPRMC,103316.800,A,4046.008283,NKp Kd Ki +00015 +00000 +00001 min,11913.672175,W,0.000,48.55,040707,,,dr maxdr maxa dead: +00030 +00200 A*76 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr m axdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GP PID: +00008 +00010 +00004 ISav: +GGA,103317.000,4046.008283,N,11913.6700000 encoderSpeed: +00000 curr2175,W,1,10,0.90,1184.732,M,-20.833,MentSense: -00015 Velocity Steer: ,,*60 $GPRMC,103317.000,A,4046.0082target current +00011 +00010 Gain: 83,N,11913.672175,W,0.000,48.55,04070Kp Kd Ki +000 15 +00000 +00001 min7,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0dr maxdr maxa dead: +00030 +00200 +00255 +00010 .000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +000 00 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,0010 103317.200,4046.008282,N,11913.672175,W,1,10,0.90,1184.733,M,-20.833,M,,*62 $GPRMC,103317.200,A,4046.008282,N,11913.672175,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103317.400,4046.008282,rentSense: -00015 Vel ocity Steer:N,11913.672175,W,1,10,0.90,1184.733, target current +00011 +00009 Gain:M,-20.833,M,,*64 $GPGSA,A,3,10,16,18 Kp Kd Ki +00015 +00000 +00001 mi,21,30,07,12,29,05,06,,,1.58,0.90,1.3ndr maxdr maxa dead: +00030 +002000*06 $GPGSV,3,1,11,06,87,349,31,07, +00255 +00010 76,313,33,24,74,357,19,21,49,274,39*70 $GPGSV,3,2,11,10,36,049,38,30,29,195,40,29,22,106,3 5,18,21,205,36*79 $Motor1: +00000 +00000 +00000 GPGSV,3,3,11,16,18,317,31,05,16,184,PID: +00008 +00010 +00004 ISav: +36,12,07,173,37*4F $GPRMC,103317.400,A,4046.008282,N,11913.672175,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPG00000 encoderSpeed: +00000 curGA,103317.600,4046.008282,N,11913.672rentSense: -00015 Velocity Steer:177,W,1,10,0.90,1184.732,M,-20.833,M, target current +00011 +00008 Gain:,*65 $GPRMC,103 317.600,A,4046.008282,N,11913.672177,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPG0000 encoderSpeed: +00000 currGA,103317.800,4046.008282,N,11913.672entSense: -00014 Velocity Steer: 179,W,1,10,0.90,1184.732,M,-20.833,M,target current +00011 +00009 Gain: ,*65 $GPRMC,103317.800,A,4046.00828Kp Kd Ki +00015 +00000 +00001 min2,N,11913.672179,W,0.001,48.55,040707dr maxdr maxa dead: +00030 +00200 ,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPG PID: +00008 +00010 +00004 ISav: +GA,103318.000,4046.008282,N,11913.67200000 encoderSpeed: +00000 curr180,W,1,10,0.90,1184.732,M,-20.833,M,entSense: -00015 Velocity Steer: ,*64 $GPRMC,103318.000,A,4046.00828target current +00011 +00009 Gain: 2,N,11913.672180,W,0.001,48.55,040707Kp Kd Ki +00015 +0 0000 +00001 min,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0dr maxdr maxa dead: +00030 +00200 +00255 +00010 .001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,10010 03318.200,4046.008282,N,11913.672181,W,1,10,0.90,1184.732,M,-20.833,M,,*67 $GPRMC,103318.200,A,4046.008282,N,11913.672181,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103318.400,4046.008281,NrentSense: -00015 Velocity Steer:,11913.672181,W,1,10,0.90,1184.732,M target current +00011 +00009 Gain:,-20.833,M,,*62 $GPGSA,A,3,10,16,18, Kp Kd Ki +00015 +00000 +00001 mi21,30,07,12,29,05,06,,,1.58,0.90,1.30ndr maxdr maxa dead: +00030 +00200*06 $GPGSV,3,1,11,06,87,349,31,07,7 +00255 +00010 6,313,33,24,74,357,20,21,49,274,39*7A $GPGSV,3,2,11,10,36,049,38,30,29,195,40,29,22,106,35,18,2 1,205,36*79 $Motor1: +00000 +00000 +00000 GPGSV,3,3,11,16,18,317,29,05,16,184,PID: +00008 +00010 +00004 ISav: +37,12,07,173,37*47 $GPRMC,103318.400,A,4046.008281,N,11913.672181,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curren t +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGG0000 encoderSpeed: +00000 currA,103318.600,4046.008280,N,11913.6721entSense: -00015 Velocity Steer: 81,W,1,10,0.90,1184.734,M,-20.833,M,target current + 00011 +00010 Gain: ,*67 $GPRMC,103318.600,A,4046.008280,N,11913.672181,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGG00000 encoderSpeed: +00000 currA,103318.800,4046.008280,N,11913.6721entSe nse: -00014 Velocity Steer: 81,W,1,10,0.90,1184.736,M,-20.833,M,target current +00011 +00009 Gain: ,*6B $GPRMC,103318.800,A,4046.00828Kp Kd Ki +00015 +00000 +00001 min0,N,11913.672181,W,0.000,48.55,040707dr maxdr maxa dead: +00030 +00200 ,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.+00255 +00010 000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGG0000 encoderSpeed: +00000 curreA,103319.000,4046.008279,N,11913.6721ntSense: -00015 Velo city Steer: t80,W,1,10,0.90,1184.737,M,-20.833,M,arget current +00011 +00010 Gain: K,*64 $GPRMC,103319.000,A,4046.008279p Kd Ki +00015 +00000 +00001 min,N,11913.672180,W,0.000,48.55,040707,dr maxdr maxa dead: +00030 +00200 ,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.+00255 +00010 000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoder Speed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGG0000 encoderSpeed: +00000 curreA,103319.200,4046.008279,N,11913.6721ntSense: -00015 Vel ocity Steer: t80,W,1,10,0.90,1184.738,M,-20.833,M,,arget current +00011 +00009 Gain: K*69 $GPRMC,103319.200,A,4046.008279p Kd Ki +00015 +00000 +00001 min,N,11913.672180,W,0.001,48.55,040707,dr maxdr maxa dead: +00030 +00200 ,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.0+00255 +00010 01,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoder Speed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103319.400,4046.008279,N,entSense: -00015 Velocity Steer: 11913.672179,W,1,10,0.90,1184.739,M,target current +00011 +00010 Gain: -20.833,M,,*68 $GPGSA,A,3,10,16,18,2Kp Kd Ki +00015 +00000 +00001 min1,30,07,12,29,05,06,,,1.58,0.90,1.29*dr maxdr maxa dead: +00030 +00200 0E $GPGSV,3,1,11,06,87,349,31,07,76+00255 +00010 ,313,33,24,74,357,20,21,49,274,40*74 $GPGSV,3,2,11,10,36,049,38,30,29,19 5,40,29,22,106,35,18,21,205,36*79 $GMotor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 PGSV,3,3,11,16,18,317,3 0,05,16,184,37,12,07,173,37*4F $GPRMC,103319.400,A,4046.008279,N,11913.672179,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 $GPGGA,103319.600,4046.008279,N,11913.672180,W,1,10,0.90,1184.739,M,-20.833Motor1:,M,,*6C $GPRMC,103319.600,A,4046.008 +00000 +00000 +00000 PID: +00008279,N,11913.672180,W,0.000,48.55,040 +00010 +00004 ISav: +00000 enc707,,,A*78 $GPVTG,48.55,T,,M,0.000,NoderSpeed: +00000 currentSense: -,0.001,K,A*00 00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr $GPGGAmaxa dead: +00030 +00200 +00255 +0,103319.800,4046.008279,N,11913.672180010 Motor1: +00000 +00000 +000000,W,1,10,0.90,1184.741,M,-20.833,M,,* PID: +00008 +00010 +00004 ISav: 6D $GPRMC,103319.800,A,4046.008279,+00000 encoderSpeed: +00000 curN,11913.672180,W,0.000,48.55,040707,rentSense: -00015 Velocity Steer:,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.0 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 01,K,A*00 $GPGGA,103320.000,4046.008279,N,11913.672180,W,1,10,0.90,1184.742, M,-20.833,M,,*6C $GPRMC,103320.000,A,4046.008279,N,11913.672180,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA0000 encoderSpeed: +00000 curr,103320.200,4046.008280,N,11913.67218entSense: -00015 Velocity Steer: 1,W,1,10,0.90,1184.743,M,-20.833,M,,*target current +00011 +00010 Gain: 68 $GPRMC,103320.200,A,4046.008280,Kp Kd Ki +00015 +00000 +00001 minN,11913.672181,W,0.000,48.55,040707,,dr maxdr maxa dead: +00030 +00200 ,A*71 $GPVTG,48.55,T,,M,0.000,N,0.00+00255 +00010 1,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103320.400,4046.008279,N,00000 encoderSpeed: +00000 c urr11913.672181,W,1,10,0.90,1184.745,M,-entSense: -00014 Velocity Steer: 20.833,M,,*6E $GPGSA,A,3,10,16,18,21target current +00011 +00010 Gain: ,30,07,12,29,05,06,,,1.58,0.90,1.29*0Kp Kd Ki +00015 +00000 +00001 minE $GPGSV,3,1,11,06,87,349,31,07,76,dr maxdr maxa dead: +00030 +00200 313,33,24,74,357,21,21,49,274,40*75 +00255 +00010 $GPGSV,3,2,11,10,36,049,38,30,29,195,40,29,22,106,35,18,21,205,36*79 $GPGSV,3,3,11,16,18,317,30,05,16,184,37,12,07,173,37*4F $GPRMC,103320.400,A,4046.008279,N,11913.672181,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1$GPGGA,: +00000 +00000 +00000 PID: +0000103320.600,4046.008279,N,11913.672188 +00010 +00004 ISav: +00000 en1,W,1,10,0.90,1184.747,M,-20.833,M,,*coderSpeed: +00000 currentSense: 6E $GPRMC,103320.600,A,4046.008279,-00014 Velocity Steer: target curN,11913.672181,W,0.000,48.55,040707,,rent +00011 +00009 Gain: Kp Kd Ki ,A*73 $GPVTG,48.55,T,,M,0.000,N,0.00+00 015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 1,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,010 Motor1: +00000 +00000 +00000 1 03320.800,4046.008279,N,11913.672182 PID: +00008 +00010 +00004 ISav: +,W,1,10,0.90,1184.750,M,-20.833,M,,*00000 encoderSpeed: +00000 curr65 $GPRMC,103320.800,A,4046.008279,NentSense: -00014 Velocity Steer: ,11913.672182,W,0.000,48.55,040707,,,target current +00011 +00009 Gain: A*7E $GPVTG,48.55,T,,M,0.000,N,0.00Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 0,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255$GPGGA,1033 +00010 Motor1: +0000 0 +00000 +0021.000,4046.008279,N,11913.672183,W,000 PID: +00008 +00010 +00004 ISa1,10,0.90,1184.752,M,-20.833,M,,*6F v: +00000 encoderSpeed: +00000 $GPRMC,103321.000,A,4046.008279,N,11currentSense: -00014 Velocity Ste913.672183,W,0.001,48.55,040707,,,A*7er: target current +00011 +00010 Ga7 $GPVTG,48.55,T,,M,0.001,N,0.001,Kin: Kp Kd Ki +00015 +00000 +00001 ,A*01 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,1033010 Motor1: +00000 +00000 +00000 21.200,4046.008279,N,1 1913.672184,W, PID: +00008 +00010 +00004 ISav: +1,10,0.90,1184.752,M,-20.833,M,,*6A 00000 encoderSpeed: +00000 curr$GPRMC,103321.200,A,4046.008279,N,11entSense: -00015 Velocity Steer:913.672184,W,0.001,48.55,040707,,,A*7 target current +00011 +00010 Gain:2 $GPVTG,48.55,T,,M,0.001,N,0.001,K, Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPG GA,103321.400,4046.008278,N,11913 PID: +00008 +00010 +00004 ISav: .672186,W,1,10,0.90,1184.753,M,-20.83+00000 encoderSpeed: +00000 cur3,M,,*6E $GPGSA,A,3,10,16,18,21,30,0rentSense: -00014 Velocity Steer:7,12,29,05,06,,,1.58,0.90,1.29*0E $ target current +00011 +00010 Gain:GPGSV,3,1,11,06,87,349,31,07,76,313,3 Kp Kd Ki +00015 +00000 +00001 mi3,24,74,3 57,20,21,49,274,39*7A $GPGndr maxdr maxa dead: +00030 +00200 +00255 +00010 SV,3,2,11,10,36,049,38,30,29,195,40,29,22,106,34,18,21,205,36*78 $GPGSV,3,3,11,16,18,317,30,05,16,184,37,12,07,173,37*4F $GPRMC,103321.400,A,4046.008278,N,11913.672186,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +000 04 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr $GPGGA,maxa dead: +00030 +00200 +00255 +0103321.600,4046.008277,N,11913.6721870010 Motor1: +00000 +00000 +00000,W,1,10,0.90,1184.754,M,-20.833,M,,* PID: +00008 +00010 +00004 ISav: 65 $GPRMC,103321.600,A,4046.0 08277,N+00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,11913.672187,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103321.800,4046.008276,N,11913.672187,W,1,10,0.90,1184.756,M,-20.833,M,,*68 $GPRMC,103321.800,A,4046.008276,N,11913.672187,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103322.000,4046.008275,N,119100000 encoderSpeed: +00000 curr3. 672186,W,1,10,0.90,1184.757,M,-20.8entSense: -00015 Velocity Steer: 33,M,,*60 $GPRMC,103322.000,A,4046.0target current +00011 +00010 Gain: 08275,N,11913.672186,W,0.001,48.55,0Kp Kd Ki +00015 +00000 +00001 min40707,,,A*7D $GPVTG,48.55,T,,M,0.001dr maxdr maxa dead: +00030 +00200 ,N,0.001,K,A*01 +00255 +0001 0 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103322.200,4046.008275,N,100000 encoderSpeed: +00000 curr1913. 672186,W,1,10,0.90,1184.757,M,-2entSense: -00016 Velocity Steer: 0.833,M,,*62 $GPRMC,103322.200,A,40target current +00011 +00009 Gain: 46.008275,N,11913.672186,W,0.001,48.5Kp Kd Ki +00015 +00000 +00001 min5,040707,,,A*7F $GPVTG,48.55,T,,M,0dr maxdr maxa dead: +00030 +00200 .001,N,0.001,K,A*01 +00255 +000 10 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103322.400,4046.008200000 encoderSpeed: +00000 curr74,N,11913. 672187,W,1,10,0.90,1184.7entSense: -00014 Velocity Steer: 58,M,-20.833,M,,*6B $GPGSA,A,3,10,1target current +00011 +00009 Gain: 6,18,21,30,07,12,29,05,06,,,1.58,0.90Kp Kd Ki +00015 +00000 +00001 mi,1.29*0E $GPGSV,3,1,11,06,87,349,31,ndr maxdr maxa dead: +00030 +0020007,76,313,33,24,74,358,19,21,49,274, +002 55 +00010 39*7F $GPGSV,3,2,11,10,36,049,38,30,29,195,40,29,22,106,32,18,21,205,35*7D $GPGSV,3,3,11,16,18,317,31,05,16,184,37,12,07,173,37*4E $GPRMC,103322.400,A,4046.008274,N,11913.672187,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103322.600,4046.008275,N,11913.672188,W,1,10,0.90,1184.758,M,-20.833, M,,*67 $GPRMC,103322.600,A,4046.008275,N,11913.672188,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 $GPGGA,10 PID: +00008 +00010 +00004 ISav: +3322.800,4046.008277,N,11913.672189,00000 encoderSpeed: +00000 curr W,1,10,0.90,1184.758,M,-20.833,M,,*6entSense: -00016 Velocity Steer: A $GPRMC,103322.800,A,4046.008277,N,target current +00011 +00010 Gain: 11913.672189,W,0.001,48.55,040707,,,AKp Kd Ki +00015 +00000 +00001 min*78 $GPVTG,48.55,T,,M,0.001,N,0.002,dr maxdr maxa dead: +00030 +00200 K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $PID: +00008 +00010 +00004 ISav: +0GPGGA,103323.000,4046.008278,N,119130000 encoderSpeed: +00000 curre.6721 91,W,1,10,0.90,1184.757,M,-20.83ntSense: -00015 Velocity Steer: t3,M,,*6A $GPRMC,103323.000,A,4046.00arget current +00011 +00011 Gain: K8278,N,11913.672191,W,0.001,48.55,04p Kd Ki +00015 +00000 +00001 min0707,,,A*77 $GPVTG,48.55,T,,M,0.001,dr maxdr maxa dead: +00030 +00200 N,0.003,K,A*03 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,10 PID: +00008 +00010 +00004 ISav: 3323.200,4046.008278,N,11913.672193,W+00000 encoderSpeed: +00000 cur ,1,10,0.90,1184.757,M,-20.833,M,,*6ArentSense: -00015 Velocity Steer: $GPRMC,103323.200,A,4046.008278,N,1 target current +00011 +00010 Gain1913.672193,W,0.001,48.55,040707,,,A*: Kp Kd Ki +00015 +00000 +00001 m77 $GPVTG,48.55,T,,M,0.001,N,0.002,indr maxdr maxa dead: +00030 +0020K,A*02 0 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103323.400,4046.008279,N,11900000 encoderSpeed: +00000 curr13.672194 ,W,1,10,0.90,1184.756,M,-20.entSense: -00015 Velocity Steer: 833,M,,*6B $GPGSA,A,3,10,16,18,21,30target current +00011 +00009 Gain: ,07,12,29,05,06,,,1.58,0.90,1.29*0E Kp Kd Ki +00015 +00000 +00001 min $GPGSV,3,1,11,06,87,349,31,07,76,313dr maxdr maxa dead: +00030 +00200 ,33,24,74,358,20,21,49,274,39*75 $ G+00255 +00010 PGSV,3,2,11,10,36,049,38,30,29,195,40,29,22,106,32,18,21,205,35*7D $GPGSV,3,3,11,16,18,317,29,05,16,184,37,12,07,173,37*47 $GPRMC,103323.400,A,4046.008279,N,11913.672194,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 $GPGGA,10PID: +00008 +00010 +00004 ISav: +03323.600,4046.008279,N,11913.672196, W0000 encoderSpeed: +00000 curre,1,10,0.90,1184.756,M,-20.833,M,,*6BntSense: -00015 Velocity Steer: t $GPRMC,103323.600,A,4046.008279,N,1arget current +00011 +00010 Gain: 1913.672196,W,0.001,48.55,040707,,,A*Kp Kd Ki +00015 +00000 +00001 min77 $GPVTG,48.55,T,,M,0.001,N,0.002,dr maxdr maxa dead : +00030 +00200 +00255 +00010 K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103323.800,4046.008279,N,11 PID: +00008 +00010 +00004 ISav: +913.672196,W,1,11,0.90,1184.756,M,-2000000 encoderSpeed: +00000 curr.833,M,,*64 $GPRMC,103323.800,A,4046entSense: -00014 Velocity Steer: .008279,N,11913.672196,W,0.001,48.55target current +00011 +00009 Gain: ,040707,,,A*79 $GPVTG,48.55,T,,M,0.0Kp Kd Ki +00015 +00000 +00001 mi01,N,0.002,K,A*02 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +000$GPGGA,103324.000,4046.008279,N,10 Motor1: +00000 +00000 +00000 11913.672197,W, 1,11,0.90,1184.756,M,PID: +00008 +00010 +00004 ISav: +-20.833,M,,*6A $GPRMC,103324.000,A,400000 encoderSpeed: +00000 curr046.008279,N,11913.672197,W,0.000,48.entSense: -00015 Velocity Steer: 55,040707,,,A*76 $GPVTG,48.55,T,,M,target current +00011 +00011 Gain: 0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0 0010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103324.200,4046.008279,N,11913.672197,W,1,11,0.90,1184.756,M,-20.833 ,M,,*68 $GPRMC,103324.200,A,4046.008279,N,11913.672197,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103324.400,4046.008279,N,119100000 encoderSpeed: +00000 curr3.672199,W ,1,10,0.90,1184.756,M,-20.8entSense: -00014 Velocity Steer: 33,M,,*61 $GPGSA,A,3,10,16,18,21,30target current +00011 +00010 Gain: ,07,12,29,05,06,,,1.58,0.90,1.29*0E Kp Kd Ki +00015 +00000 +00001 min $GPGSV,3,1,11,06,87,350,31,07,76,313dr maxdr maxa dead: +00030 +00200,33,24,74,358,23,21,49,274,39*7E $GP +00255 +00010 GSV,3,2,11,10,36,049,38,30,29,195,40,29,22,106 ,32,18,21,205,35*7D $GPGSV,3,3,11,16,18,317,28,05,16,184,37,12,Motor1: +00000 +00000 +00000 07,173,37*46 $GPRMC,103324.400,A,4046.008279,N,11913.672199,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current + 00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103PID: +00008 +00010 +00004 ISav: +0324.600,4046.008279,N,11913.672200,W,0000 encoderSpeed: +00000 curre1,10,0.90,1184.756,M,-20.833,M,,*60 ntSense: -00015 Velocity Steer: t $GPRMC,103324.600,A,4046.008279,N,11913.672200,W,0. 001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103324.800,4046.008278,N,11913.672202,W,1,10,0.90,1184.756,M,-20.833,M,,*6D $GPRMC,103324.800,A,4046.008278,N,11913.672202,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 $GPGGA PID: +00008 +00010 +00004 ISav: +,103325.000,4046.008277,N,11913.6722000000 encoderSpeed: +00000 curr3,W,1,10, 0.90,1184.757,M,-20.833,M,,*entSense: -00014 Velocity Steer: 6B $GPRMC,103325.000,A,4046.008277,target current +00011 +00010 Gain: N,11913.672203,W,0.000,48.55,040707,,Kp Kd Ki +00015 +00000 +00001 min,A*77 $GPVTG,48.55,T,,M,0.000,N,0.00dr maxdr maxa dead: +00030 +00200 1,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,1033PID: +00008 +00010 +00004 ISav: +025.200,4046.008277,N,11913.672204,W,0000 encoderSpeed: +00000 curre1,10,0.90 ,1184.757,M,-20.833,M,,*6E ntSense: -00015 Velocity Steer: t $GPRMC,103325.200,A,4046.008277,N,11arget current +00011 +00010 Gain: K913.672204,W,0.001,48.55,040707,,,A*7p Kd Ki +00015 +00000 +00001 min3 $GPVTG,48.55,T,,M,0.001,N,0.002,K,dr maxdr maxa dead: +00030 +00200 A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103325.400,4046.008276,N,11913+00000 encoderSpeed: +00000 cur.672204,W,1,10 ,0.90,1184.759,M,-20.83rentSense: -00016 Velocity Steer:3,M,,*67 $GPGSA,A,3,10,16,18,21,30,0 target current +00011 +00010 Gain:7,12,29,05,06,,,1.58,0.90,1.29*0E $ Kp Kd Ki +00015 +00000 +00001 miGPGSV,3,1,11,06,87,350,31,07,76,313,3ndr maxdr maxa dead: +00030 +002004,24,74,358,22,21,49,274,39*78 $GPG +00255 +00010 SV,3,2,11,10,36,049,38,30,29,195,40, 29,22,106,32,18,21,205,36*7E $GPGSV,3,3,11,16,18,317,29,05,16,184,37,12,07,173,37*47 $GPRMC,103325.400,A,4046.008276,N,11913.672204,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103325.600,4046.008276,N,11913.672204,W,1 +00255 +00010 ,10,0.90,1184.760,M,-20.833,M,,*6F Motor1$GPRMC,103325.600,A,4046.008276,N,119: +00000 +00000 +00000 PID: +000013.672204,W,0.001,48.55,040707,,,A*768 +00010 +00004 ISav: +00000 enc $GPVTG,48.55,T,,M,0.001,N,0.001,K,oderSpeed: +00000 currentSense: -A*01 00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,1033010 Motor1: +00000 +00000 +0000025.800,4046.008276,N,11913.672205,W,1 PID: +00008 +00010 +00004 ISav: ,10,0.90,1184.760,M,-20.833,M,,*60 +00000 encoderSpeed: +00000 cur$GPRMC,103325.800,A,4046.008276,N,119rentSense: -00015 Velocity Steer:13.672205,W,0.001,48.5 5,040707,,,A*79 target current +00011 +00009 Gain: $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +0000 0 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,1033 PID: +00008 +00010 +00004 ISav: +26.000,4046.008276,N,11913.672206,W,100000 encoderSpeed: +00000 curr,10,0.90,1184.761,M,-20.833,M,,*69 entSense: -00015 Velocity Steer: $GPRMC,103326.000,A,4046.008276,N,119target current +00 011 +00010 Gain: 13.672206,W,0.001,48.55,040707,,,A*71Kp Kd Ki +00015 +00000 +00001 min $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,10332PID: +00008 +00010 +00004 ISav: +6.200,4046.008275,N,11913.672207,W,100000 encoderSpeed: +00000 curr,10,0.90,11 84.761,M,-20.833,M,,*69 entSense: -00015 Velocity Steer: $GPRMC,103326.200,A,4046.008275,N,119target current +00011 +00010 Gain: 13.672207,W,0.001,48.55,040707,,,A*71Kp Kd Ki +00015 +00000 +00001 min $GPVTG,48.55,T,,M,0.001,N,0.002,K,Adr maxdr maxa dead: +00030 +00200 *02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc oderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $ PID: +00008 +00010 +00004 ISav: +GPGGA,103326.400,4046.008275,N,11913.00000 encoderSpeed: +00000 curr672209,W,1,10,0.90,118 4.762,M,-20.83entSense: -00015 Velocity Steer: 3,M,,*62 $GPGSA,A,3,10,16,18,21,30,0target current +00011 +00010 Gain: 7,12,29,05,06,,,1.58,0.90,1.30*06 $Kp Kd Ki +00015 +00000 +00001 minGPGSV,3,1,11,06,87,350,31,07,76,313,3dr maxdr maxa dead: +00030 +00200 4,24,74,358,21,21,49,274,39*7B $GPGS+00255 +00010 V,3,2,11,10,36,049,39,30,29,195,40,2 9,22,106,33,18,21,205,36*7E $GPGSV,3,3,11,16,18,317,27,05,16,184,37,12,07,173,37*49 $GPRMC,103326.400,A,4046.008275,N,11913.672209,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Veloci ty Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103326.600,4046.008275,N,11913.672210,W,1+00255 +00010 ,10,0.90,1184.764,M,-20.833,M,,*6E $Motor1GPRMC,103326.600,A,4046.008275,N,1191: +00000 +00000 +00000 PID: +00003.672210,W,0.000,48.55,040707,,,A*728 +00010 +00004 ISav: +00000 enc $GPVTG, 48.55,T,,M,0.000,N,0.001,K,AoderSpeed: +00000 currentSense: -*00 00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00 011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103326.800010 Motor1: +00000 +00000 +000000,4046.008274,N,11913.672212,W,1,10, PID: +00008 +00010 +00004 ISav: 0.90,1184.767,M,-20.833,M,,*60 $GPRM+00000 encoderSpeed: +00000 curC,103326.800,A,4046.008274,N,11913.67rentSense: -00015 Velocity Steer:2212,W,0.001,48.55,0 40707,,,A*7E $G target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 PVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,10332 PID: +00008 +00010 +00004 ISav: 7.000,4046.008274,N,11913.672211,W,1+00000 encoderSpeed: +00000 cur,10,0.90,1184.769,M,-20.833,M,,*64 $rentSense: -00014 Velocity Steer:GPRMC,103327.000,A,4046.008274,N,1191 targ et current +00011 +00009 Gain:3.672211,W,0.000,48.55,040707,,,A*75 Kp Kd Ki +00015 +00000 +00001 mi $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103327.200,4046.008274,N,11913.672210,W,1,10,0.90,1184.772,M,-20.833,M,,*6D $GPRMC,103327.200,A,4 046.008274,N,11913.672210,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +0 0015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $G PID: +00008 +00010 +00004 ISav: +PGGA,103327.400,4046.008273,N,11913.600000 encoderSpeed: +00000 curr72212,W,1,10,0.90,1184. 773,M,-20.833entSense: -00016 Velocity Steer: ,M,,*6F $GPGSA,A,3,10,16,18,21,30,07target current +00011 +00010 Gain: ,12,29,05,06,,,1.58,0.90,1.29*0E $GKp Kd Ki +00015 +00000 +00001 minPGSV,3,1,11,06,87,350,31,07,76,313,34dr maxdr maxa dead: +00030 +00200 ,24,74,358,21,21,49,275,39*7A $GPGSV+00255 +00010 ,3,2,11,10,36,049,39,30,29,195,40,29,22,106,34,18,21,205,36 *79 $GPGSV,3,3,11,16,18,317,27,05,16,184,37,12,07,Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 173,37*49 $GPRMC, 103327.400,A,4046.008273,N,11913.672212,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103327 PID: +00008 +00010 +00004 ISav: +.600,4046.008273,N,11913.672214,W,1,00000 encoderSpeed: +00000 curr10,0.90,1184.774,M,-20.833,M,,*6C $GentSense: -00015 Velocity Steer: PRMC,103327.600,A,4046.008273,N ,11913.672214,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103327PID: +00008 +00010 +00004 ISav: +0.800,4046.008272,N,11913.672215,W,1,0000 encoderSpeed: +00000 curre10,0.90,1184.776,M,-20.833,M,,*60 $GntSense: -00016 Velocity Steer: tPRMC,10 3327.800,A,4046.008272,N,11913arget current +00011 +00010 Gain: .672215,W,0.001,48.55,040707,,,A*7E Kp Kd Ki +00015 +00000 +00001 min$GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $ PID: +00008 +00010 +00004 ISav: +GPGGA,103328.000,4046.008272,N,11913.00000 encoderSpeed: +00000 curr672216,W,1, 11,0.90,1184.778,M,-20.833entSense: -00014 Velocity Steer: ,M,,*6B $GPRMC,103328.000,A,4046.008target current +00011 +00009 Gain: 272,N,11913.672216,W,0.001,48.55,040Kp Kd Ki +00015 +00000 +00001 min707,,,A*7A $GPVTG,48.55,T,,M,0.001,Ndr maxdr maxa dead: +00030 +00200 ,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00 000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103328.200,4046.008270000 encoderSpeed: +00000 curr2,N,11913.672216,W,1,11,0.90,1184.78entS ense: -00015 Velocity Steer: 1,M,-20.833,M,,*6F $GPRMC,103328.200target current +00011 +00009 Gain: ,A,4046.008272,N,11913.672216,W,0.000Kp Kd Ki +00015 +00000 +00001 min,48.55,040707,,,A*79 $GPVTG,48.55,Tdr maxdr maxa dead: +00030 +00200 ,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed : +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103328.400,4046.008270000 encoderSpeed: +00000 curr2,N,11913.672218,W,1,11,0.90,1184.78ent Sense: -00015 Velocity Steer: 3,M,-20.833,M,,*65 $GPGSA,A,3,10,16,target current +00011 +00008 Gain: 18,21,30,07,24,12,29,05,06,,1.51,0.90Kp Kd Ki +00015 +00000 +00001 min,1.21*09 $GPGSV,3,1,11,06,87,350,31,dr maxdr maxa dead: +00030 +00200 07,76,313,34,24,74,358,23,21,49,275,+00255 +00010 39*78 $GPGSV,3,2,11,10,36,049,39,30,29,195,40,29,22,106,34,18,21,205,36*79 $GPGSV,3,3,11,16,18,317,27,05,16,Motor1: +00000 +00000 +00000 184,37,12,07,173,37*49 $GPRMC,103328.400,A,4046.008272,N,11913.672218,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 + 00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103PID: +00008 +00010 +00004 ISav: +0328.600,4046.008272,N,11913.672219,W,0000 encoderSpeed: +00000 curre1,10,0.90,1184.784,M,-20.833,M,,*60 ntSense: -00014 Velocity Steer: $GPRMC,103328.600,A,4046.008272,N,11913.672219,W,0.001,48.5 5,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +0 0001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103328.PID: +00008 +00010 +00004 ISav: +0800,4046.008272,N,11913.672219,W,1,10000 encoderSpeed: +00000 curre0,0.90,1184.786,M,-20.833,M,,*6C $GPntSense: -00015 Velocity Steer: tRMC,103328.800,A,4046.008272,N,1191 3arget current +00011 +00009 Gain: K.672219,W,0.000,48.55,040707,,,A*7C p Kd Ki +00015 +00000 +00001 min$GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103329.000,4046.008272,N,11913.672220,W,1,10,0.90,1184.788,M,-20.833,M,,*61 $GPRMC,103329.000,A,4046.008272, N,11913.672220,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00 001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103329.PID: +00008 +00010 +00004 ISav: +200,4046.008272,N,11913.672219,W,1,100000 encoderSpeed: +00000 curr0,0.90,1184.790,M,-20.83 3,M,,*60 $GPentSense: -00015 Velocity Steer: RMC,103329.200,A,4046.008272,N,11913.target current +00011 +00009 Gain: 672219,W,0.000,48.55,040707,,,A*77 Kp Kd Ki +00015 +00000 +00001 min$GPVTG,48.55,T,,M,0.000,N,0.000,K,A*0dr maxdr maxa dead: +00030 +00200 1 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +000 00 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA, PID: +00008 +00010 +00004 ISav: +103329.400,4046.008272,N,11913.67221900000 encoderSpeed: +00000 curr,W,1,10,0.90,1184.791,M,-20.8 33,M,,*entSense: -00015 Velocity Steer: 67 $GPGSA,A,3,10,16,18,21,30,07,12,2target current +00011 +00010 Gain: 9,05,06,,,1.58,0.90,1.29*0E $GPGSV,3Kp Kd Ki +00015 +00000 +00001 min,1,11,06,87,350,31,07,76,313,34,24,74dr maxdr maxa dead: +00030 +00200 ,358,22,21,49,275,39*79 $GPGSV,3,2,+00255 +00010 11,10,36,049,39,30,29,195,40,29,22,10 6,34,18,21,205,36*79 $GPGSV,3,3,11,16,18,317,28,05,16,184,37,12,07,173,37*46 $GPRMC,103329.400,A,4046.008272,N,11913.672219,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSens e: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103329.600,4046.008271,N,11913.672220,W,1,10+00255 +00010 ,0.90,1184.792,M,-20.833,M,,*6F $GPRMC,103329.600,A,4046.008271,N,11913.672220,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +0 0000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103329.800,Motor1: +00000 +00000 +00000 4046.008271,N,11913.672221,W,1,10,0.9 PID: +00008 +00010 +00004 ISav: +0,1184.792,M,-20.833,M,,*60 $GPRMC,100000 encoderSpeed: +00000 curr03329.800,A,4046.008271,N,11913.6722entSense: -00014 Velocity Steer: 21,W,0.001,48.55,040707,,,A*74 $GPVtarget current +00011 +00011 Gain: TG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103330.0Motor1: +00000 +00000 +00000 00,4046.008271,N,11913.672221,W,1,10PID: +00008 +00010 +00004 ISav: +0,0.90,1184.793,M,-20.833,M,,*61 $GPR0000 encoderSpeed: +00000 curreMC,103330.000,A,4046.008271,N,11913.6ntSense: -00015 Velocity Steer: t72221,W,0.000,48.55,040707,,,A*75 $arget current +00011 +00010 Gain: GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01Kp Kd Ki +00015 +00000 +00001 min dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103330.2Motor1: +00000 +00000 +00000 00,4046.008271,N,11913.672220,W,1,10PID: +00008 +00010 +00004 ISav: +0,0.90,1184.794,M,-20.833,M,,*65 $GPR0000 encoderSpeed: +00000 curreMC,103330.200,A,4046.008271,N,11913.6ntSense: -00016 Velocity Steer: t72220,W,0.000,48.55,040707,,,A*76 $arget current +00011 +00010 Gain: KGPVTG,48.55,T,,M,0.000,N,0.000,K,A*01p Kd Ki +00015 +00000 +00001 mind r maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGMotor1: +00000 +00000 +00000 A,103330.400,4046.008272,N,11913.672PID: +00008 +00010 +00004 ISav: +0219,W,1,10,0.90,1184.796,M,-20.833,M,0000 encoderSpeed: +00000 curre,*68 $GPGSA,A,3,10,16,18,21,30,07,1ntSense: -00014 Velocity Steer: t2,29,05,06,,,1.58,0.90,1.29*0E $GPGSarget current +00011 +00009 Gain: V,3,1,11,06,87,350,32,07,76,313,34,24Kp Kd Ki +00015 +00000 +00001 min,74,358,19,21,49,275,38*73 $GPGSV,3dr maxdr maxa dead: +00030 +00200 ,2,11,10,36, 049,39,30,29,195,40,29,22,106,34,18,21,205,36*79 $GPGSV,3,3,11,16,18,317,27,05,16,184,37,12,07,173,37*49 $GPRMC,103330.400,A,4046.008272,N,11913.672219,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N+00255 +00010 ,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Ste er: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr $GPGGA,103330.60maxa dead: +00030 +00200 +00255 +00,4046.008272,N,11913.672219,W,1,10,0010 Motor1: +00000 +00000 +000000.90,1184.797,M,-20.833,M,,*6B $GPRM PID: +00008 +00010 +00004 ISav: C,103330.600,A,4046.008272,N,11913.6+00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 72219,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103330.80Motor1: +00000 +00000 +00000 0,4046.008272,N,11913.672219,W,1,10,PID: +00008 +00010 +00004 ISav: +00.90,1184.799,M,-20.833,M,,*6B $GPRM0000 encoderSpeed: +00000 curreC,103330.800,A,4046.008272,N,11913.6ntSense: -00014 Velocity Steer: t72219,W,0.000,48.55,040707,,,A*7 5 $Garget current +00011 +00009 Gain: KPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,1Motor1: +00000 +00000 +00000 03331.000,4046.008272,N,11913.672219, PID: +00008 +00010 +00004 ISav: +W,1,10,0.90,1184.800,M,-20.833,M,,*600000 encoderSpeed: +00000 currD $GPRMC,103331.000,A,4046.008272,N,entSense: -00016 Velocity Steer: 11913.672219,W,0. 000,48.55,040707,,,Atarget current +00011 +00009 Gain: *7C $GPVTG,48.55,T,,M,0.000,N,0.000Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,K,A*01 $GPGGA,103331.200,4046.008272,N,11913.672219,W,1,10,0.90,1184.800,M,-20.833,M,,*6F $GPRMC,103331.200,A,4046.008272, N,11913.672219,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103331.400,4046.008273,N,11913.672219,W,1,10,0.90,1184.800,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,0 7,12,29,05,06,,,1.58,0.90,1.29*0E $GPGSV,3,1,11,06,87,350,32,07,76,313,34,24,74,358,21,21,49,275,38*78 $GPGSV,3,2,11,10,36,049,39,30,29,195,40,29,22,106,34,18,21,205,35*7A $GPGSV,3,3,11,16,18,317,30,05,16,184,37,12,07,173,37*4F $GPRMC,103331.400,A,4046.008273,N,11913.672219,W,0.001,48.55,040707,,,A*78 $G PVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,10333Motor1: +00000 +00000 +00000 1.600,4046.008274,N,11913.672220,W,1PID: +00008 +00010 +00004 ISav: +0,10,0.90,1184.801,M,-20.833,M,,*66 $000 0 encoderSpeed: +00000 currGPRMC,103331.600,A,4046.008274,N,1191entSense: -00015 Velocity Steer: 3.672220,W,0.000,48.55,040707,,,A*76 target current +00011 +00010 Gain: $GPVTG,48.55,T,,M,0.000,N,0.001,K,AKp Kd Ki +00015 +00000 +00001 min*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103331.80Motor1: +00000 +00000 +00000 0,4046.008274,N,11913.672222,W,1,10,0PID: +00008 +00010 +00004 ISav: +0.91,1184.802,M,-20.833,M,,*68 $GPR M0000 encoderSpeed: +00000 curreC,103331.800,A,4046.008274,N,11913.67ntSense: -00015 Velocity Steer: t2222,W,0.001,48.55,040707,,,A*7B $Garget current +00011 +00009 Gain: PVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103332.00Motor1: +00000 +00000 +00000 0,4046.008273,N,11913.672223,W,1,10,0PID: +00008 +00010 +00004 ISav: +0.90,1184.802,M,-20.833,M,,*64 $GPRMC0 000 encoderSpeed: +00000 curre,103332.000,A,4046.008273,N,11913.67ntSense: -00015 Velocity Steer: t2223,W,0.001,48.55,040707,,,A*76 $Garget current +00011 +00010 Gain: KPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103332.20Motor1: +00000 +00000 +00000 0,4046.008272,N,11913.672224,W,1,10,0 PID: +00008 +00010 +00004 ISav: +.91,1184.802,M,-20.833,M,,*61 $GPRMC0 0000 encoderSpeed: +00000 curr,103332.200,A,4046.008272,N,11913.672entSense: -00015 Velocity Steer: 224,W,0.000,48.55,040707,,,A*73 $GPtarget current +00011 +00010 Gain:VTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGAMotor1: +00000 +00000 +00000 ,103332.400,4046.008271,N,11913.67222PID: +00008 +00010 +00004 ISav: +03,W,1,10,0.90,1184.803,M,-20.833,M,,*0000 enco derSpeed: +00000 curre63 $GPGSA,A,3,10,16,18,21,30,07,12,ntSense: -00015 Velocity Steer: 29,05,06,,,1.58,0.90,1.29*0E $GPGSV,target current +00011 +00010 Gain: 3,1,11,06,87,350,32,07,76,313,34,24,7Kp Kd Ki +00015 +00000 +00001 min4,358,21,21,49,275,39*79 $GPGSV,3,2dr maxdr maxa dead: +00030 +00200 ,11,10,36,049,39,30,29,1 95,40,29,22,1+00255 +00010 06,34,18,21,205,35*7A $GPGSV,3,3,11,16,18,317,28,05,16,184,37,12,07,173,37*46 $GPRMC,103332.400,A,4046.008271,N,11913.672223,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GPGGA,103332.600Motor1: +00000 +00000 +00000 ,4046.008271,N,11913.672224,W,1,10,0PID: +00008 +00010 +00004 ISav: +0.90,1184.804,M,-20.833,M,,*61 $G PRMC0000 encoderSpeed: +00000 curre,103332.600,A,4046.008271,N,11913.672ntSense: -00015 Velocity Steer: t224,W,0.000,48.55,040707,,,A*74 $GParget current +00011 +00009 Gain: KVTG,48.55,T,,M,0.000,N,0.001,K,A*00 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103332.800Motor1: +00000 +00000 +00000 ,4046.008271,N,11913.672223,W,1,10,0. PID: +00008 +00010 +00004 ISav: +90,1184.805,M,-20.833,M,,*69 $GPRMC,0000 0 encoderSpeed: +00000 curr103332.800,A,4046.008271,N,11913.672entSense: -00015 Velocity Steer: 223,W,0.000,48.55,040707,,,A*7D $GPtarget current +00011 +00010 Gain: VTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103333.000Motor1: +00000 +00000 +00000 ,4046.008271,N,11913.672223,W,1,10,0. PID: +00008 +00010 +00004 ISav: +90,1184.805,M,-20.833,M,,*60 $GPRMC,0000 0 encoderSpeed: +00000 curr103333.000,A,4046.008271,N,11913.672entSense: -00015 Velocity Steer: 223,W,0.001,48.55,040707,,,A*75 $GPVtarget current +00011 +00010 Gain: TG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103333.200Motor1: +00000 +00000 +00000 ,4046.008272,N,11913.672224,W,1,10,0. PID: +00008 +00010 +00004 ISav: +91,1184.806,M,-20.833,M,,*64 $GPRMC,00000 encoderSpeed: +00000 curr103333.200,A,4046.008272,N,11913.6722entSense: -00014 Velocity Steer: 24,W,0.000,48.55,040707,,,A*72 $GPVtarget current +00011 +00010 Gain: TG,48.55,T,,M,0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,Motor1: +00000 +00000 +00000 103333.400,4046.008272,N,11913.672224 PID: +00008 +00010 +00004 ISav: +,W,1,10,0.90,1184.808,M,-20.833,M,,*00000 encoderSp eed: +00000 curr6D $GPGSA,A,3,10,16,18,21,30,07,12,2entSense: -00015 Velocity Steer: 9,05,06,,,1.58,0.90,1.29*0E $GPGSV,3target current +00011 +00010 Gain: ,1,11,06,87,350,32,07,76,313,34,24,74Kp Kd Ki +00015 +00000 +00001 min,358,20,21,49,275,39*78 $GPGSV,3,2,dr maxdr maxa dead: +00030 +0020011,10,36,049,39,30,29,195,40,29,22,10 +00255 +00010 6,34,18,21,205,37*78 $GPGSV,3,3,11,16,18,317,27,05,16,184,37,12,07,173,37*49 $GPRMC,103333.400,A,4046.008272,N,11913.672224,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curr$GPGGA,103333. ent +00011 +00010 Gain: Kp Kd Ki +600,4046.008271,N,11913.672225,W,1,100015 +00000 +00001 mindr maxdr ma0,0.90,1184.810,M,-20.833,M,,*64 $GPxa dead: +00030 +00200 +00255 +000RMC,103333.600,A,4046.008271,N,11913.10 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 672225,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 $GPGGA,103333.800,Motor1: +00000 +00000 +00000 4046.008271,N,11913.672226,W,1,10,0.PID: +00008 +00010 +00004 ISav: +090,1184.810,M,-20.833,M, ,*69 $GPRMC,0000 encoderSpeed: +00000 curre103333.800,A,4046.008271,N,11913.6722ntSense: -00015 Velocity Steer: 26,W,0.001,48.55,040707,,,A*78 $GPVtarget current +00011 +00009 Gain: TG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103334.Motor1: +00000 +00000 +00000 000,4046.008270,N,11913.672228,W,1,1PID: +00008 +00010 +00004 ISav: +00,0.91,1184.811,M,-20.833,M,,*69 $GP0000 encod erSpeed: +00000 curreRMC,103334.000,A,4046.008270,N,11913.ntSense: -00015 Velocity Steer: 672228,W,0.001,48.55,040707,,,A*78 target current +00011 +00009 Gain: $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*0Kp Kd Ki +00015 +00000 +00001 min1 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPMotor1: +00000 +00000 +00000 GGA,103334.200,4046.008271,N,11913.67PID: +00008 +00010 +00004 ISav: +02232,W,1,10,0.91,1184.809,M,-20.833,M0000 encoderSpeed : +00000 curre,,*68 $GPRMC,103334.200,A,4046.0082ntSense: -00015 Velocity Steer: t71,N,11913.672232,W,0.001,48.55,04070arget current +00011 +00009 Gain: 7,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0Kp Kd Ki +00015 +00000 +00001 min.003,K,A*03 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encod erSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103334.400,4046.008272,N,11913 PID: +00008 +00010 +00004 ISav: +.672234,W,1,10,0.90,1184.808,M,-20.8300000 encoderSpe ed: +00000 curr3,M,,*6B $GPGSA,A,3,10,16,18,21,30,0entSense: -00014 Velocity Steer: 7,12,29,05,06,,,1.58,0.90,1.29*0E $target current +00011 +00009 Gain: GPGSV,3,1,11,06,87,350,32,07,76,313,3Kp Kd Ki +00015 +00000 +00001 min4,24,74,358,20,21,49,275,38*79 $GPGdr maxdr maxa dead: +00030 +00200 SV,3,2,11,10,36,049,38,30,29,195,41,+00255 +00010 29,22,106,34,18,21,20 5,38*77 $GPGSV,3,3,11,16,18,317,29,05,16,184,38,12,07,173,36*49 $GPRMC,103334.400,A,4046.008272,N,11913.672234,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 + 00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,Motor1: +00000 +00000 +00000 103334.600,4046.008272,N,11913.672236PID: +00008 +00010 +00004 ISav: +0,W,1,10,0.90,1184.809,M,-20.833,M,,*0000 encoderSpeed: +00000 curre6A $GPRMC,103334.600,A,4046.008272,N,11913.672236,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M ,0.001,N,0.003,K,A*03 ntSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +0 0001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103334.800,4Motor1: +00000 +00000 +00000 046.008272,N,11913.672237,W,1,10,0.9PID: +00008 +00010 +00004 ISav: +00,1184.810,M,-20.833,M,,*6D $GPRMC,10000 encoderSpeed: +00000 curre03334.800,A,4046.008272,N,11913.6722ntSense: -00015 Velocity Steer: t37,W,0.001,48.55,040707,,,A*7C $GPVTarget current +00011 +00010 Gain: G,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103335.000,4010 Motor1: +00000 +00000 +00000 046.008273,N,11913.672239,W,1,10,0.91 PID: +00008 +00010 +00004 ISav: +,1184.812,M,-20.833,M,,*68 $GPRMC,1000000 encoderSpeed: +00000 curr3335.000,A,4046.008273,N,11913.67223entSense: -00015 Velocity Steer: 9,W,0.001,48.55,040707,,,A*7A $GPVTGtarget current +00011 +00010 Gain: ,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,1Motor1: +00000 +00000 +00000 03335.200,4046.008273,N,11913.672240PID: +00008 +00010 +00004 ISav: +0,W,1,11,0.90,1184.814,M,-20.833,M,,*0000 encoderSpeed: +00000 curre62 $GPRMC,103335.200,A,4046.008273,NntSense: -00014 Velocity Steer: t,11913.672240,W,0.001,48.55,040707,,,arget current +00011 +00010 Gain: A*76 $GPVTG,48.55,T,,M,0.001,N,0.001Kp Kd Ki +00015 +00000 +00001 min,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $Motor1: +00000 +00000 +00000 GPGGA,103335.400,4046.008273,N,11913. PID: +00008 +00010 +00004 ISav: +672241,W,1,11,0.90,1184.815,M,-20.83300000 encoderSpeed: +00 000 curr,M,,*64 $GPGSA,A,3,10,16,18,21,30,07entSense: -00014 Velocity Steer: ,24,12,29,05,06,,1.51,0.90,1.21*09 target current +00011 +00009 Gain:$GPGSV,3,1,11,06,87,350,32,07,76,313, Kp Kd Ki +00015 +00000 +00001 mi34,24,74,358,23,21,49,275,38*7A $GPndr maxdr maxa dead: +00030 +00200GSV,3,2,11,10,36,049,38,30,29,195,41 +00255 +00010 ,29,22,106,34,18,21,205,38*77 $GPGSV,3,3,11,16,18,317,26,05,16,184,38,12,07,173,36*46 $GPRMC,103335.400,A,4046.008273,N,11913.672241,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGA,103335.60r ent +00011 +00010 Gain: Kp Kd Ki 0,4046.008274,N,11913.672242,W,1,10,+00015 +00000 +00001 mindr maxdr m0.91,1184.816,M,-20.833,M,,*61 $GPRMaxa dead: +00030 +00200 +00255 +00C,103335.600,A,4046.008274,N,11913.67010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre ntSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +002002242,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 $GPGGA,103335.800,40Motor1: +00000 +00000 +00000 46.008274,N,11913.672243,W,1,10,0.90PID: +00008 +00010 +00004 ISav: +0,1184.815,M,-20.833,M,,*6 C $GPRMC,100000 encoderSpeed: +00000 curre3335.800,A,4046.008274,N,11913.67224ntSense: -00015 Velocity Steer: 3,W,0.001,48.55,040707,,,A*78 $GPVTGtarget current +00011 +00010 Gain: ,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103336.00Motor1: +00000 +00000 +00000 0,4046.008275,N,11913.672244,W,1,10,0PID: +00008 +00010 +00004 ISav: +.90,1184.815,M,-20.833,M,,*61 $GPRM00000 encoderSpeed : +00000 currC,103336.000,A,4046.008275,N,11913.67entSense: -00014 Velocity Steer: 2244,W,0.000,48.55,040707,,,A*74 $Gtarget current +00011 +00010 Gain: PVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 min dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,10Motor1: +00000 +00000 +00000 3336.200,4046.008276,N,11913.672244,WPID: +00008 +00010 +00004 ISav: +0,1,11,0.90,1184.816,M,-20.833,M,,*620000 encoderSpeed: +00000 curre $GPRMC,103336.200,A,4046.008276,N,ntSense: -00015 Velocity Steer: 11913.672244,W,0.000,48.55,040707,,,Atarget current +00011 +00010 Gain: *75 $GPVTG,48.55,T,,M,0.000,N,0.001,Kp Kd Ki +00015 +00000 +00001 minK,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103Motor1: +00000 +00000 +00000 336.400,4046.008275,N,11913.672244,W, PID: +00008 +00010 +00004 ISav: +1,10,0.90,1184.817,M,-20.833,M,,*67 00000 encoderSpeed: +00000 curr $GPGSA,A,3,10,16,18,21,30,07,12,29,0entSense: -00015 Velocity Steer: 5,06,,,1.58,0.90,1.29*0E $GPGSV,3,1,target current +00011 +00010 Gain: 11,06,87,350,30,07,76,313,34,24,74,3Kp Kd Ki +00015 +00000 +00001 min58,23,21,49,275,38*78 $GPGSV,3,2,11dr maxdr maxa dead: +00030 +00200 ,10,36,049,38,30,29,19 5,41,29,22,106,+00255 +00010 33,18,21,205,38*70 $GPGSV,3,3,11,16,18,317,26,05,16,184,38,12,07,173,36*46 $GPRMC,103336.400,A,4046.008275,N,11913.672244,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103336.60Motor1: +00000 +00000 +00000 0,4046.008274,N,11913.672243,W,1,10,0 PID: +00008 +00010 +00004 ISav: +.91,1184.818,M,-20.833,M,,*6D $GPRMC00000 encoderSpeed: +00000 curr,103336.600,A,4046.008274,N,11913.672entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: 243,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103336.800,40Motor1: +00000 +00000 +00000 46.008273,N,11913.672242,W,1,10,0.90, PID: +00008 +00010 +00004 ISav: +1184.821,M,-20.833,M,,*6E $GPRMC,10300000 encoderSp eed: +00000 curr336.800,A,4046.008273,N,11913.672242entSense: -00016 Velocity Steer: ,W,0.001,48.55,040707,,,A*7D $GPVTG,target current +00011 +00010 Gain: 48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GMotor1: +00000 +00000 +00000 PGGA,103337.000,4046.008271,N,11913.6PID: +00008 +00010 +00004 ISav: +072241,W,1,11,0.90,1184.825,M,-20.8330000 encoderSpeed: +00000 curr e,M,,*63 $GPRMC,103337.000,A,4046.008ntSense: -00016 Velocity Steer: 271,N,11913.672241,W,0.001,48.55,040target current +00011 +00009 Gain: 707,,,A*75 $GPVTG,48.55,T,,M,0.001,NKp Kd Ki +00015 +00000 +00001 min,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0000 0 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103Motor1: +00000 +00000 +00000 337.200,4046.008270,N,11913.672240,W,PID: +00008 +00010 +00004 ISav: +01,11,0.90,1184.829,M,-20.833,M,,*6D 0000 encoderSpeed: +00000 curre $GPRMC,103337.200,A,4046.008270,N,1ntSense: -00015 Velocity Steer: t1913.672240,W,0.000,48.55,040707,,,A*arget current +00011 +00010 Gain: 76 $GPVTG,48.55,T,,M,0.000,N,0.000,KKp Kd Ki +00015 +00000 +00001 min,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103337.400,4046.008270,N,11913.672240,W,1,10,0.90,1184.832,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.29*0E $GPGSV,3,1,11,06,87,350,30,07,76,313,34,24,74,358,23,21,49,275,38*78 $GPGSV,3,2,11,10,36,049,39,30,29,195,41,29,22,106,32,18,21,205,38*70 $GPGSV,3,3,11,16,18,317,29,05,16,184,38,12,07,173,34*4B $GPRMC,103337.400,A,4046.008270,N,Motor1: +00000 +00000 +00000 11913.672240,W,0.001,48.55,040707,,,APID: +00008 +00010 +00004 ISav: +0*71 $GPVTG,48.55,T,,M,0.001,N,0.0010 000 encoderSpeed: +00000 curr,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103337.600,4046.008270,N,11913.672241,W,1,10,0.Motor1: +00000 +00000 +00000 90,1184.834,M,-20.833,M,,*65 $GPRMCPID: +00008 +00010 +00004 ISav: +0,103337 .600,A,4046.008270,N,11913.6720000 encoderSpeed: +00000 curre241,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 ntSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00 015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103337.800,4046.008269,N,11913.672241,W, Motor1: +00000 +00000 +00000 1,11,0.90,1184.836,M,-20.833,M,,*60 PID: +00008 +00010 +00004 ISav: + $GPRMC,103337.800,A,4046.008269,N,1100000 encoderSpeed: +00000 curr913.672241,W,0.000,48.55,040707,,,A*7entSense: -00017 Velocity Steer: 5 $GPVTG,48.55,T,,M,0.000,N,0.001,Ktarget current +00011 +00009 Gain: ,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103010 338.000,4046.008269,N,11913.672242 ,W,1,11,0.90,1184.837,M,-20.833,M,,*65 $GPRMC,103338.000,A,4046.008269,N,11913.672242,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103338.200,4046.008268,N,11913.672242,W,1,10,0.90,1184.839,M,-20.833,M,,*69 $GPRMC,103338.200,A,4046.008268,N,11913.672242,W,0.000,48.55,040707,,,A*72 $GPV TG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Stee r: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103338.400,4046.008266,N,11913.672243,W,1,10,0.90,1184.841,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.29*0E $GPGSV ,3,1,11,06,87,350,30,07,76,313,34,24,74,358,22,21,49,275,38*79 $GPGSV,3,2,11,10,36,049,39,30,29,195,41,29,22,106,34,18,21,205,38*76 $GPGSV,3,3,11,16,18,317,29,05,16,184,37,12,07,173,34*44 $GPRMC,103338.400,A,4046.008266,N,11913.672243,W,0.000,48.55,040707,,,A*Motor1: +00000 +00000 +00000 7B $GPVTG,48.55,T,,M,0.000,N,0.001,PID: +00008 +00010 +00004 ISav: +0K,A*00 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103338.600,4046.008265,N,11913.672242,W,1,10,0.9Motor1: +00000 +00000 +00000 0,1184.843,M,-20.833,M,,*6D $GPRMC,PID: +00008 +00010 +00004 ISav: +0103338.6 00,A,4046.008265,N,11913.67220000 encoderSpeed: +00000 curr42,W,0.000,48.55,040707,,,A*7B $GPVTentSense: -00015 Velocity Steer: G,48.55,T,,M,0.000,N,0.001,K,A*00 target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103338.800,4046.008264,N,11913.672242,W,1, 10,0.90,1184.844,M,-20.833,M,,*65 $GPRMC,103338.800,A,4046.008264,N,11913.672242,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -000 14 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103339.000,4046.008264,N,11913.672243,W,1,10,0.90,1184.8Motor1: +00000 +00000 +00000 44,M,-20.833,M,,*6D $GPRMC,103339.0 PID: +00008 +00010 +00004 ISav: +00,A,4046.00 8264,N,11913.672243,W,0.000000 encoderSpeed: +00000 curr00,48.55,040707,,,A*7C $GPVTG,48.55,entSense: -00014 Velocity Steer: T,,M,0.000,N,0.001,K,A*00 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0000 0 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103339.200,4046.008264,N,11913.672244,W,1,10,0.90,11Motor1: +00000 +00000 +00000 84.844,M,-20.833,M,,*68 $GPRMC,10333PID: +00008 +00010 +00004 ISav: +9.200,A,4046 .008264,N,11913.672244,W00000 encoderSpeed: +00000 curr,0.001,48.55,040707,,,A*78 $GPVTG,48entSense: -00014 Velocity Steer: .55,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: + 00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103339.400,4046.008263,N,11913.672244,W,1,Motor1: +00000 +00000 +00000 10,0.90,1184.846,M,-20.833,M,,*6B $G PID: +00008 +00010 +00004 ISav: +PGSA,A,3,10,16, 18,21,30,07,12,29,05,00000 encoderSpeed: +00000 curr06,,,1.58,0.90,1.29*0E $GPGSV,3,1,11entSense: -00015 Velocity Steer: ,06,87,350,32,07,76,313,34,24,74,358target current +00011 +00009 Gain: ,21,21,49,275,38*78 $GPGSV,3,2,11,10Kp Kd Ki +00015 +00000 +00001 min,36,049,40,30,29,195,40,29,22,106,35,dr maxdr maxa dead: +00030 +00200 18,21,205,38*78 $GPGSV,3,3,11,16,18+00255 +00010 ,317,29,05,16,184,36,12,07,173,34*45 $GPRMC,103339.400,A,4046.008263,N,11913.672244,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103339.600,4046.rent +00011 +00010 Gain: Kp Kd Ki 008262,N,11913.672244,W,1,10,0.90,118+00015 +00000 +00001 mindr maxdr m4.847,M,-20.833,M,,*69 $GPRMC,10333axa dead: +00030 +00200 +00255 +009.600,A,4046.008262,N,11913.672244,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103339.800,4046.008261,N,11913.672244,W,1,10,0.90,118Motor1: +00000 +00000 +00000 4.848,M,-20.833,M,,*6B $GPRMC,10333PID: +00008 +00010 +00004 ISav: +9.800,A,4046.00 8261,N,11913.672244,W,00000 encoderSpeed: +00000 curr0.000,48.55,040707,,,A*76 $GPVTG,48.entSense: -00015 Velocity Steer: 55,T,,M,0.000,N,0.000,K,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +000 00 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103340.000,4046.008260,N,11913.672244,W,1,10,0.90,118Motor1: +00000 +00000 +00000 4.850,M,-20.833,M,,*65 $GPRMC,10334 PID: +00008 +00010 +00004 ISav: +0.000,A,4046.00 8260,N,11913.672244,W,00000 encoderSpeed: +00000 curr0.000,48.55,040707,,,A*71 $GPVTG,48.entSense: -00015 Velocity Steer: 55,T,,M,0.000,N,0.001,K,A*00 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103340.200,4046.008259,N,11913.672244,W,1,10,0.90Motor1: +00000 +00000 +00000 ,1184.851,M,-20.833,M,,*6C $GPRMC,10PID: +00008 +00010 +00004 ISav: +03340.200,A,4046. 008259,N,11913.672240000 encoderSpeed: +00000 curr4,W,0.000,48.55,040707,,,A*79 $GPVTGentSense: -00013 Velocity Steer: ,48.55,T,,M,0.000,N,0.000,K,A*01 target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103340.400,4046.008259,N,11913.Motor1: +00000 +00000 +00000 672244,W,1,11,0.90,1184.853,M,-20.833PID: +00008 +00010 +00004 ISav: +,M,,*69 $GPGSA,A ,3,10,16,18,21,30,0700000 encoderSpeed: +00000 curr,24,12,29,05,06,,1.51,0.90,1.21*09 entSense: -00016 Velocity Steer: $GPGSV,3,1,11,06,87,350,32,07,76,313,target current +00011 +00009 Gain: 34,24,74,358,22,21,49,275,38*7B $GPGKp Kd Ki +00015 +00000 +00001 minSV,3,2,11,10,36,049,40,30,29,195,40,dr maxdr maxa dead: +00030 +00200 29,22,106,35,18,21,205,38*78 $GPGSV,+00255 +00010 3,3,11,16,18,317,28,05,16,184,36,12,07,173,34*44 $GPRMC,103340.400,A,4046.008259,N,11913.672244,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target cur$GPGGA,103340rent +00011 +00010 Gain: K p Kd Ki .600,4046.008258,N,11913.672245,W,1,+00015 +00000 +00001 mindr maxdr m11,0.90,1184.854,M,-20.833,M,,*6C $Gaxa dead: +00030 +00200 +00255 +00PRMC,103340.600,A,4046.008258,N,11913.672245,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103340.800,4046.008258,N,11913.672245,W,1,Motor1: +00000 +00000 +00000 11,0.90,1184.857,M,-20.833,M,,*61 $GPID: +00008 +00010 +00004 ISav: +0PRMC,103340.800,A,4046.008258,N,119130000 encoderSpeed: +00000 curre.672245,W,0.000,48.55,040707,,,A*73 ntSense: -00014 Velocity Steer: t $GPVTG,48.55,T,,M,0.000,N,0.00 0,K,A*01 arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103341.000,4046.008258,N,11913.672247,W,1,10,0.91,1184.860,M,-20.833,M,,*6E $GPRMC,103341Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +.000,A,4046.008258,N,11913.672247,W,000000 encoderSpeed: +00000 curr.001,48.55,040707,,,A*79 $GPVTG,48.5entSense: -00015 Velocity Steer: 5,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103341.200,4046.0082 57,N,11913.672247,W,1,10,0.90,1184Motor1: +00000 +00000 +00000 .863,M,-20.833,M,,*61 $GPRMC,103341 PID: +00008 +00010 +00004 ISav: +.200,A,4046.008257,N,11913.672247,W,000000 encoderSpeed: +00000 curr.001,48.55,040707,,,A*74 $GPVTG,48.5entSense: -00015 Velocity Steer: 5,T,,M,0.001,N,0.001,K,A*01 target c urrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103341.400,4046.008258,N,11913.672247,W,1,10Motor1: +00000 +00000 +00000 ,0.90,1184.865,M,-20.833,M,,*6E $GPG PID: +00008 +00010 +00004 ISav: +SA,A,3,10,16,18,21,30,07 ,12,29,05,0600000 encoderSpeed: +00000 curr,,,1.58,0.90,1.29*0E $GPGSV,3,1,11,entSense: -00015 Velocity Steer: 06,87,350,32,07,76,313,34,24,74,358,2target current +00011 +00009 Gain: 0,21,49,275,37*76 $GPGSV,3,2,11,10,3Kp Kd Ki +00015 +00000 +00001 min6,049,40,30,29,195,40,29,22,106,35,18dr maxdr maxa dead: +00030 +00200 ,21,205,38*78 $GPGSV,3,3,11,16,18,3+00255 +00010 17,22,05,16,184,37,12,07,173,35*4E $GPRMC,103341.400,A,4046.008258,N,11913.672247,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GPGGA,103341.600,4046.008260,N,11913.672246,W,1,10,0.91,Motor1: +00000 +00000 +00000 1184.869,M,-20.833,M,,*6B $GPRMC,103 PID: +00008 +00010 +00004 ISav: +341.600,A, 4046.008260,N,11913.67224600000 encoderSpeed: +00000 curr,W,0.001,48.55,040707,,,A*75 $GPVTG,entSense: -00015 Velocity Steer: 48.55,T,,M,0.001,N,0.002,K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103341.800,4046.008260,N,11913.672246,W,1,10,0.90,1184.Motor1: +00000 +00000 +00000 872,M,-20.833,M,,*6E $GPRMC,103341.PID: +00008 +00010 +00004 ISav: +800,A,4046.008260,N,1191 3.672246,W,0.00000 encoderSpeed: +00000 curr000,48.55,040707,,,A*7A $GPVTG,48.55entSense: -00015 Velocity Steer: ,T,,M,0.000,N,0.001,K,A*00 target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103342.000,4046.008260,N,11913.672248,W,1,10,0.90,1184.Motor1: +00000 +00000 +00000 874,M,-20.833,M,,*6D $GPRMC,103342.PID: +00008 +00010 +00004 ISav: +000,A,4046.008260,N,11913.6 72248,W,0.00000 encoderSpeed: +00000 curr001,48.55,040707,,,A*7E $GPVTG,48.55entSense: -00015 Velocity Steer: ,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103342.200,4046.008261,N,11913.672249,W,1,10,0.90,1184.Motor1: +00000 +00000 +00000874,M,-20.833,M,,*6F $GPRMC,103342. PID: +00008 +00010 +00004 ISav: 200,A,4046.008261,N,11913.6 72249,W,0.+00000 encoderSpeed: +00000 cur001,48.55,040707,,,A*7C $GPVTG,48.55rentSense: -00014 Velocity Steer:,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103342.400,4046.008262,N,11913.672250,W,1,10,0.9Motor1: +00000 +00000 +00000 0,1184.873,M,-20.833,M,,*65 $GPGSA,A PID: +00008 +00010 +00004 ISav: ,3,10,16,18,21,30,07,12,29 ,05,06,,,1+00000 encoderSpeed: +00000 cur.58,0.90,1.29*0E $GPGSV,3,1,11,06,87rentSense: -00015 Velocity Steer:,350,31,07,76,313,34,24,74,358,20,21, target current +00011 +00010 Gain:49,275,38*7A $GPGSV,3,2,11,10,36,049 Kp Kd Ki +00015 +00000 +00001 mi,40,30,29,195,40,29,22,106,34,18,21,ndr maxdr maxa dead: +00030 +00200205,38 *79 $GPGSV,3,3,11,16,18,317,30 +00255 +00010 ,05,16,184,37,12,07,173,35*4D $GPRMC,103342.400,A,4046.008262,N,11913.672250,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103342.600,4046.008263,N,11913.672252,W,1,10,0.91,1184.8Motor1: +00000 +00000 +00000 71,M,-20.833,M,,*67 $GPRMC,103342.6PID: +00008 +00010 +00004 ISav: +00,A,4046.0082 63,N,11913.672252,W,0.000000 encoderSpeed: +00000 curr01,48.55,040707,,,A*70 $GPVTG,48.55entSense: -00016 Velocity Steer: ,T,,M,0.001,N,0.003,K,A*03 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103342.800,4046.008264,N,11913.672254,W,1,10,0.90,1184.8Motor1: +00000 +00000 +00000 70,M,-20.833,M,,*68 $GPRMC,103342.8PID: +00008 +00010 +00004 ISav: +00,A,4046.008264,N,11913.67225 4,W,0.000000 encoderSpeed: +00000 curr01,48.55,040707,,,A*7F $GPVTG,48.55,entSense: -00015 Velocity Steer: T,,M,0.001,N,0.002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103343.000,4046.008264,N,11913.672253,W,1,10,0.90,11Motor1: +00000 +00000 +00000 84.872,M,-20.833,M,,*64 $GPRMC,10334 PID: +00008 +00010 +00004 ISav: +3.000,A,4046.008264,N,11913. 672253,W00000 encoderSpeed: +00000 curr,0.000,48.55,040707,,,A*70 $GPVTG,48entSense: -00015 Velocity Steer: .55,T,,M,0.000,N,0.001,K,A*00 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103343.200,4046.008264,N,11913.672254,W,1,10,0.9Motor1: +00000 +00000 +00000 1,1184.872,M,-20.833,M,,*60 $GPRMC,1 PID: +00008 +00010 +00004 ISav: +03343.200,A,4046.008264,N,11913. 672200000 encoderSpeed: +00000 curr54,W,0.000,48.55,040707,,,A*75 $GPVTentSense: -00014 Velocity Steer: G,48.55,T,,M,0.000,N,0.001,K,A*00 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103343.400,4046.008264,N,11913.672253,W,1Motor1: +00000 +00000 +00000 ,10,0.90,1184.872,M,-20.833,M,,*60 $ PID: +00008 +00010 +00004 ISav: +GPGSA,A,3,10,16,18,21,30,07,12,2 9,05,00000 encoderSpeed: +00000 curr06,,,1.58,0.90,1.29*0E $GPGSV,3,1,1entSense: -00013 Velocity Steer:1,06,87,350,32,07,76,313,34,24,74,358 target current +00011 +00010 Gain:,20,21,49,275,38*79 $GPGSV,3,2,11,1 Kp Kd Ki +00015 +00000 +00001 mi0,36,049,40,30,29,195,40,29,22,106,34ndr maxdr maxa dead: + 00030 +00200,18,21,205,38*79 $GPGSV,3,3,11,16,1 +00255 +00010 8,317,30,05,16,184,37,12,07,173,35*4D $GPRMC,103343.400,A,4046.008264,N,11913.672253,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103343.600,4046.008265,N,11913.672253,W,1,10,0.90Motor1: +00000 +00000 +00000 ,1184.873,M,-20.833,M,,*62 $GPRMC,1PID: +00008 +00010 +00004 ISav : +003343.600,A,4046.008265,N,11913.672250000 encoderSpeed: +00000 curre3,W,0.000,48.55,040707,,,A*77 $GPVTntSense: -00014 Velocity Steer: G,48.55,T,,M,0.000,N,0.001,K,A*00 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103343.800,4046.008266,N,11913.672253,W,1,10,0.90,1184.874,MMotor1: +00000 +00000 +00000 ,-20.833,M,,*68 $GPRMC,103343.800,A,PID: +00008 +00010 +00004 ISav: +04046.008266,N,11913.672253,W,0.000, 40000 encoderSpeed: +00000 curr8.55,040707,,,A*7A $GPVTG,48.55,T,,entSense: -00016 Velocity Steer: M,0.000,N,0.001,K,A*00 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103344.000,4046.008268,N,11913.672253,W,1,10,0.90,118Motor1: +00000 +00000 +00000 4.876,M,-20.833,M,,*6B $GPRMC,10334PID: +00008 +00010 +00004 ISav: +4.000,A,4046.008268,N,11913.672253,W ,00000 encoderSpeed: +00000 curr0.001,48.55,040707,,,A*7A $GPVTG,48entSense: -00014 Velocity Steer: .55,T,,M,0.001,N,0.002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103344.200,4046.008270,N,11913.672255,W,1,10,0.90Motor1: +00000 +00000 +00000 ,1184.875,M,-20.833,M,,*65 $GPRMC,10PID: +00008 +00010 +00004 ISav: +3344.200,A,4046.008270,N,11913.672 2500000 encoderSpeed: +00000 curr5,W,0.001,48.55,040707,,,A*77 $GPVTGentSense: -00015 Velocity Steer: ,48.55,T,,M,0.001,N,0.002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103344.400,4046.008271,N,11913.672256,W,1,10,0Motor1: +00000 +00000 +00000 .90,1184.875,M,-20.833,M,,*61 $GPGSA PID: +00008 +00010 +00004 ISav: ,A,3,10,16,18,21,30,07,12,29,05,06,, ,+00000 encoderSpeed: +00000 cur1.58,0.90,1.29*0E $GPGSV,3,1,11,06,rentSense: -00014 Velocity Steer:87,351,32,07,76,313,34,24,74,358,20,2 target current +00011 +00009 Gain:1,49,275,38*78 $GPGSV,3,2,11,10,36,0 Kp Kd Ki +00015 +00000 +00001 mi49,40,30,29,195,40,29,22,106,32,18,2ndr maxdr maxa dead: +0003 0 +002001,205,38*7F $GPGSV,3,3,11,16,18,317, +00255 +00010 32,05,16,184,37,12,07,173,36*4C $GPRMC,103344.400,A,4046.008271,N,11913.672256,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103344.600,4046.008271,N,11913.672256,W,1,10,0.90,1184.87Motor1: +00000 +00000 +00000 6,M,-20.833,M,,*60 $GPRMC,103344.60 PID: +00008 +00010 +00004 ISav : +0,A,4046.008271,N,11913.672256,W,0.0000000 encoderSpeed: +00000 curr1,48.55,040707,,,A*71 $GPVTG,48.55,TentSense: -00014 Velocity Steer: ,,M,0.001,N,0.002,K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103344.800,4046.008272,N,11913.672256,W,1,10,0.91,1184.87Motor1: +00000 +00000 +00000 9,M,-20.833,M,,*63 $GPRMC,103344.800 PID: +00008 +00010 +00004 ISav: +,A,4046.008272,N,11913.672256,W,0.000 0000 encoderSpeed: +00000 curr0,48.55,040707,,,A*7D $GPVTG,48.55,TentSense: -00017 Velocity Steer: ,,M,0.000,N,0.001,K,A*00 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103345.000,4046.008272,N,11913.672257,W,1,10,0.90,118Motor1: +00000 +00000 +00000 4.881,M,-20.833,M,,*6D $GPRMC,10334 PID: +00008 +00010 +00004 ISav: +5.000,A,4046.008272,N,11913.672257,W,0 0000 encoderSpeed: +00000 curr0.001,48.55,040707,,,A*74 $GPVTG,48.entSense: -00016 Velocity Steer: 55,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103345.200,4046.008272,N,11913.672258,W,1,10,0.90,1184.88Motor1: +00000 +00000 +00000 4,M,-20.833,M,,*65 $GPRMC,103345.200PID: +00008 +00010 +00004 ISav: +,A,4046.008272,N,11913.672258,W,0.0000000 0 encoderSpeed: +00000 curr,48.55,040707,,,A*78 $GPVTG,48.55,T,entSense: -00015 Velocity Steer: ,M,0.000,N,0.000,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103345.400,4046.008272,N,11913.672258,W,1,10,0.91,1Motor1: +00000 +00000 +00000 184.885,M,-20.833,M,,*63 $GPGSA,A,3, PID: +00008 +00010 +00004 ISav: 10,16,18,21,30,07,12,29,05,06,,,1.58+0000 0 encoderSpeed: +00000 cur,0.91,1.29*0F $GPGSV,3,1,11,06,87,35rentSense: -00015 Velocity Steer:1,32,07,76,313,34,24,74,358,20,21,49, target current +00011 +00009 Gain:275,38*78 $GPGSV,3,2,11,10,36,049,4 Kp Kd Ki +00015 +00000 +00001 mi0,30,29,195,40,29,22,106,30,18,21,205ndr maxdr maxa dead: +00030 +00200,37*72 $GPGSV,3,3,11,16,18,317,32,0 5 +00255 +00010 ,16,184,37,12,07,173,36*4C $GPRMC,103345.400,A,4046.008272,N,11913.672258,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target $GPGGA,103345.600,4046.008272current +00011 +00010 Gain: Kp Kd K,N,11 913.672258,W,1,10,0.91,1184.886i +00015 +00000 +00001 mindr maxd,M,-20.833,M,,*62 $GPRMC,103345.600,r maxa dead: +00030 +00200 +00255 A,4046.008272,N,11913.672258,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Veloc ity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +0 0015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103345.800,4046.008273,N,11913.672259,W,1,10,0.90,1184.886,M,-20.833,M,,*6D $GPRMC,103345.800,A,4046.008273,N,11913.672259,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103346.000,4046.008273,N,11913.672259,W,1,10,0.90,1184.886,M,-20.833,M,,*66 $GPRMC,103346.000,A,4046.008273,N,11913.672259,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103346.200,4046.008274,N,11913.672260,W,1,10,0.90,1184Motor1: +00000 +00000 +00000 .886,M,-20.833,M,,*69 $GPRMC,103346.PID: +00008 +00010 +00004 ISav: +0200,A,4046.008274,N,11913.672260,W,00000 encoderSpeed: +00000 curr.001,48.55,040707,,,A*77 $GPVTG,48.5entSense: -00015 Velocity Steer: 5,T,,M,0.001,N,0.002,K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Veloci ty Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103346.400,4046.008275,N,11913.672260,W,1,10,0.91,1184.887,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,351,32,07,76,313,34,24,74,358,2 0,21,49,275,38*78 $GPGSV,3,2,11,10,36,049,40,30,29,195,40,29,22,106,30,18,21,205,37*72 $GPGSV,3,3,11,16,18,317,32,05,16,184,37,12,07,173,36*4C $GPRMC,103346.400,A,4046.008275,N,11913.672260,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103346.600,4046.008278,N,11913.672262,W,1,10,0.90,1184.888,M,-20.833,M,,*6D $GPRMC,103346.600,Motor1: +00000 +00000 +00000 A,4046.008278,N,11913.672262,W,0.002, PID: +00008 +00010 +00004 ISav: +48.55,0 40707,,,A*7E $GPVTG,48.55,T,,00000 encoderSpeed: +00000 currM,0.002,N,0.004,K,A*07 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocit y Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103346.800,4046.008281,N,11913.672264,W,1,10,0.91,1184.887,M,-20.833,M,,*6D $GPRMC,103346.800,A,4046.008281,N,11913.672264,W,0.002,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103347.000,4046.008282,N,11913.672265,W,1,10,0.90,1184.888,M,-20.833,M,,*68 $GPRMC,103347.000,A,4046.008282,N,11913.672265,W,0.002,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103347.200,4046.008284,N,11913.672266,W,1,10,0.90,1184.888,M,-20.833,M,,*6F $GPRMC,103347.200,A,4046.008284,N,11913.672266,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +$GPGGA,103347.400,4046.008285,N,11913.672268,W,1,10,0.91,1184.888,M,-20.833,M,,*67 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,351,32,07,76,313,34,24,74,358,19,2 1,49,275,38*72 $GPGSV,3,2,11,10,36,049,40,30,29,195,40,29,22,106,31,18,21,205,37*73 $GPGSV,3,3,11,16,18,317,32,05,16,184,37,12,07,173,36*4C $GPRMC,103347.400,A,4046.008285,N,11913.672268,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense : -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103347.600,4046.008286,N,11913.672269,W,1,10,0.90,1184.888,M,-20.833,M,,*66 $GPRMC,103347.6Motor1: +00000 +00000 +00000 00,A,4046.008286,N,11913.672269,W,0.0PID: +00008 +00010 +00004 ISav: +000,48.55,0407 07,,,A*77 $GPVTG,48.550000 encoderSpeed: +00000 curre,T,,M,0.000,N,0.001,K,A*00 ntSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103347.800,4046.008287,N0010 ,11913.672270,W,1,10,0.90,1184.889,M,-20.833,M,,*60 $GP RMC,103347.800,A,4046.008287,N,11913.672270,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gai n: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103348.000,4046.008288,N,11913.672271,W,1,10,0.90,1184.889,M,-20.833,M,,*69 $GPRMC,103348.000,A,4046.008288,N,11913.672271,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103348.200,4046.008288,N,11913.672272,W,1,10,0.91,1184.891,M,-20.833,M,,*60 $GPRMC,103348.200,A,4046.008288,N,11913.672272,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103348.400,4046.008288,N,11913.672271,W,1,10,0.91,1184.892,M,-20.833,M,,*66 $GPGSA,A,3Motor1: +00000 +00000 +00000 ,10,16,18,21,30,07,12,29,05,06,,,1.5 PID: +00008 +00010 +00004 ISav: +8,0.91,1.29*0F $GPGSV,3,1,11,06,87,300000 encoderSpeed: +00000 curr51,32,07,76,313,34,24,74,358,19,21,49entSense: -00014 Velocity Steer: ,275,38*72 $GPGSV,3,2,11,10,36,049,target current +00011 +00010 Gain: 40,30,29,195,40,29,22,106,31,18,21,2Kp Kd Ki +00015 +00000 +00001 min05,37*73 $GPGSV,3,3,11,16,18,317,32,dr maxdr maxa dead: +00030 +00200 05,16,184,38,12,07,1 73,36*43 $GPRMC,103348.400,A,4046.008288,N,11913.672271,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103348.600,4046.008288,Nrent +00011 + 00009 Gain: Kp Kd Ki ,11913.672270,W,1,10,0.90,1184.894,M+00015 +00000 +00001 mindr maxdr m,-20.833,M,,*62 $GPRMC,103348.600,A,axa dead: +00030 +00200 +00255 +004046.008288,N,11913.672270,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense : -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103348.800,4046.008288,N,11913.672271,W,1,10,0.91,1184.896,M,-20.833,M,,*6E $GPRMC,103348.800,A,4046Motor1: +00000 +00000 +00000 .008288,N,11913.672271,W,0.001,48.55PID: +00008 +00010 +00004 ISav: +,040707,,,A*70 $G PVTG,48.55,T,,M,0.000000 encoderSpeed: +00000 curr01,N,0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target c urrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103349.000,4046.008289,N,11913.672271,W,1,10,0.90,1184.897,M,-20.833,M,,*66 $GPRMC,103349.000,A,4046Motor1: +00000 +00000 +00000 .008289,N,11913.672271,W,0.001,48.55 PID: +00008 +00010 +00004 ISav: +,040707,,,A*78 $G PVTG,48.55,T,,M,0.000000 encoderSpeed: +00000 curr01,N,0.002,K,A*02 entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103349.200,4046.008290,N,11913.672270,W,1,10,0.91,1184.898,M,-20.833,M,,*63 $GPRMC,103349.200,A,4Motor1: +00000 +00000 +00000 046.008290,N,11913.672270,W,0.001,48PID: +00008 +00010 +00004 ISav: +0.55,040707,,,A*73 $GPVTG,48.55,T,,M0000 encoderSpeed: +00000 curr,0.001,N,0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103349.400,4046.008292,N,11913.672271,W,1,10,0.90,1184.899,M,-20.833,M,,*66 $GPGSA,A,3,10,Motor1: +00000 +00000 +00000 16,18,21,30,07,12,29,05,06,,,1.58,0.9 PID: +00008 +00010 +00004 ISav: +0,1.29*0E $GPGSV,3,1 ,11,06,87,351,3200000 encoderSpeed: +00000 curr,07,76,313,34,24,74,358,18,21,49,275entSense: -00015 Velocity Steer: ,38*73 $GPGSV,3,2,11,10,36,049,40,3target current +00011 +00009 Gain: 0,29,195,40,29,22,106,31,18,21,205,37Kp Kd Ki +00015 +00000 +00001 min*73 $GPGSV,3,3,11,16,18,317,32,05,16dr maxdr maxa dead: +00030 +00200 ,184,38,12,07,173,36*43 $GPRMC,103349.400,A,4046.008292,N,11913.672271,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103349.600,4046.00829rent +0 0011 +00010 Gain: Kp Kd Ki 4,N,11913.672272,W,1,10,0.90,1184.90+00015 +00000 +00001 mindr maxdr m0,M,-20.833,M,,*60 $GPRMC,103349.600axa dead: +00030 +00200 +00255 +00,A,4046.008294,N,11913.672272,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cu rrentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103349.800,4046.008297,N,11913.672272,W,1,10,0.90,1184.902,M,-20.833,M,,*6F $GPRMC,103349.800,A,4Motor1: +00000 +00000 +00000 046.008297,N,11913.672272,W,0.001,48.PID: +00008 +00010 +00004 ISav: +55,040707,,,A* 7C $GPVTG,48.55,T,,M,00000 encoderSpeed: +00000 curr0.001,N,0.001,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103350.000,4046.008299,N,11913.672270,W,1,10,0.90,1184.903,M,-20.833,M,,*62 $GPRMC,103350.000,A,4Motor1: +00000 +00000 +0000046.008299,N,11913.672270,W,0.001,48.0 PID: +00008 +00010 +00004 ISav:55,040707,,,A*70 $ GPVTG,48.55,T,,M, +00000 encoderSpeed: +00000 cu0.001,N,0.001,K,A*01 rrentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target cu rrent +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103350.200,4046.008300,N,11913.672271,W,1,10,0.90,1184.904,M,-20.833,M,,*67 $GPRMC,103350.200,A,4Motor1: +00000 +00000 +00000 046.008300,N,11913.672271,W,0.001,48. PID: +00008 +00010 +00004 ISav: +55,040707,,,A*72 $GPVT G,48.55,T,,M,00000 encoderSpeed: +00000 curr0.001,N,0.001,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target curr ent +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103350.400,4046.008301,N,11913.672270,W,1,10,0.90,1184.906,M,-20.833,M,,*63 $GPGSA,A,3,Motor1: +00000 +00000 +00000 10,16,18,21,30,07,12,29,05,06,,,1.58 PID: +00008 +00010 +00004 ISav: +,0.90,1.29*0E $GPGSV,3, 1,11,06,87,3500000 encoderSpeed: +00000 curr1,32,07,76,313,34,24,74,358,18,21,49,entSense: -00016 Velocity Steer: 275,38*73 $GPGSV,3,2,11,10,36,049,4target current +00011 +00009 Gain: 0,30,29,195,40,29,22,106,31,18,21,205Kp Kd Ki +00015 +00000 +00001 min,37*73 $GPGSV,3,3,11,16,18,317,32,05dr maxdr maxa dead: +00030 +00200 ,16,184,38,12,07,173,36*43 $GPRMC,103350.400,A,4046.008301,N,11913.672270,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGA,103350.600,4046.008301,N,rent + 00011 +00010 Gain: Kp Kd Ki 11913.672270,W,1,10,0.90,1184.908,M,-+00015 +00000 +00001 mindr maxdr m20.833,M,,*6F $GPRMC,103350.600,A,40axa dead: +00030 +00200 +00255 +0046.008301,N,11913.672270,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre ntSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103350.800,4046.008301,N,11913.672271,W,1,10,0.91,1184.910,M,-20.833,M,,*68 $GPRMC,103350.800,A,4046.0Motor1: +00000 +00000 +00000 08301,N,11913.672271,W,0.000,48.55,0PID: +00008 +00010 +00004 ISav: +40707,,,A*78 $GPVTG,48.55,T,,M,0.00000000 encoderSpeed: +00000 curr,N,0.001,K,A*00 entSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: tar get current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103351.000,4046.008302,N,11913.672271,W,1,10,0.90,1184.912,M,-20.833,M,,*61 $GPRMC,103351.000,A,40Motor1: +00000 +00000 +00000 46.008302,N,11913.672271,W,0.000,48.5 PID: +00008 +00010 +00004 ISav: +5,040707,,,A*72 $GPVTG,4 8.55,T,,M,000000 encoderSpeed: +00000 curr.000,N,0.000,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103351.200,4046.008303,N,11913.672271,W,1,10,0.90,1184.913,M,-20.833,M,,*63 $GPRMC,103351.200,A,40Motor1: +00000 +00000 +00000 46.008303,N,11913.672271,W,0.000,48.5PID: +00008 +00010 +00004 ISav: +5,040707,,,A*71 $GPVTG,48 .55,T,,M,000000 encoderSpeed: +00000 curr.000,N,0.001,K,A*00 entSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +000 11 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103351.400,4046.008304,N,11913.672272,W,1,10,0.90,1184.914,M,-20.833,M,,*66 $GPGSA,A,3,1Motor1: +00000 +00000 +00000 0,16,18,21,30,07,12,29,05,06,,,1.58,0 PID: +00008 +00010 +00004 ISav: +.90,1.29*0E $GPGSV,3,1,11,06 ,87,351,00000 encoderSpeed: +00000 curr32,07,76,313,34,24,74,358,18,21,49,2entSense: -00015 Velocity Steer: 75,38*73 $GPGSV,3,2,11,10,36,049,40target current +00011 +00009 Gain: ,30,29,195,40,29,22,106,31,18,21,205,Kp Kd Ki +00015 +00000 +00001 min37*73 $GPGSV,3,3,11,16,18,317,32,05,dr maxdr maxa dead: +00030 +00200 16,184,38,12,07,173,36*43 $GPRM C,103351.400,A,4046.008304,N,11913.672272,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu$GPGGA,103351.600,4046.008304,N,1rrent +00 011 +00010 Gain: Kp Kd Ki 1913.672272,W,1,10,0.90,1184.915,M,-2 +00015 +00000 +00001 mindr maxdr 0.833,M,,*65 $GPRMC,103351.600,A,404maxa dead: +00030 +00200 +00255 +06.008304,N,11913.672272,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 0010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentS ense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103351.800,4046.008304,N,11913.672272,W,1,10,0.90,1184.915,M,-20.833,M,,*6B $GPRMC,103351.800,A,4046.00Motor1: +00000 +00000 +00000 8304,N,11913.672272,W,0.000,48.55,04PID: +00008 +00010 +00004 ISav: +0707,,,A*7F $GPVTG,48.55,T,,M,0.000,00000 encoderSpeed: +00000 currN,0.000,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu rrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103352.000,4046.008304,N,11913.672272,W,1,10,0.91,1184.915,M,-20.833,M,,*61 $GPRMC,103352.000,AMotor1: +00000 +00000 +00000 ,4046.008304,N,11913.672272,W,0.000,PID: +00008 +00010 +00004 ISav: +48.55,040707,,,A*74 $GPVTG,48.5 5,T,,00000 encoderSpeed: +00000 currM,0.000,N,0.001,K,A*00 entSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103352.200,4046.008305,N,11913.672272,W,1,10,0.91,1184.916,M,-20.833,M,,*61 $GPRMC,10335Motor1: +00000 +00000 +000002.200,A,4046.008305,N,11913.672272,W PID: +00008 +00010 +00004 ISav: ,0.000,48.55,040707,,,A*77 $GPV TG,48+00000 encoderSpeed: +00000 cur.55,T,,M,0.000,N,0.000,K,A*01 rentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103352.400,4046.008306,N,11913.672272,W,1,10,0.90,1184.918,M,-20.833,M,,*6B $GPGSMotor1: +00000 +00000 +00000 A,A,3,10,16,18,21,30,07,12,29,05,06,, PID: +00008 +00010 +00004 ISav: +,1.58,0.90,1.29*0E $GPGSV,3,1,1 1,0600000 encoderSpeed: +00000 curr,87,351,32,07,76,313,34,24,74,358,18,entSense: -00016 Velocity Steer: 21,49,275,38*73 $GPGSV,3,2,11,10,36,target current +00011 +00010 Gain: 049,40,30,29,195,40,29,22,106,31,18,Kp Kd Ki +00015 +00000 +00001 min21,205,37*73 $GPGSV,3,3,11,16,18,317dr maxdr maxa dead: +00030 +00200 ,32,05,16,184,38,12,07,173,36*43 $GPR MC,103352.400,A,4046.008306,N,11913.672272,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGA,103352.600,4046.008307,Nrent +00011 +00011 Gain: Kp Kd Ki ,11913.672273,W,1,10,0.90,1184.91 8,M+00015 +00000 +00001 mindr maxdr m,-20.833,M,,*69 $GPRMC,103352.600,A,axa dead: +00030 +00200 +00255 +004046.008307,N,11913.672273,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103352.800,4046. 008309,N,11913.672274,W,1,10,0.91,1184.919,M,-20.833,M,,*6E $GPRMC,103352.800,A,4046Motor1: +00000 +00000 +00000 .008309,N,11913.672274,W,0.001,48.55PID: +00008 +00010 +00004 ISav: +,040707,,,A*76 $GPVTG,48.55,T,,M,0.000000 encoderSpeed: +00000 curr01,N,0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00 001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103353.000,4046.008310,N,11913.672275,W,1,10,0.90,1184.921,M,-20.833,M,,*64 $GPRMC,103353.000,A,4046.008310,N,11913.672275,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103353.200,4046.008310,N,11913.672277,W,1,10,0.90,1184.924,M,-20.833,M,,*61 $GPRMC,103353.200,A,4046Motor1: +00000 +00000 +00000 .008310,N,11913.672277,W,0.001,48.55 PID: +00008 +00010 +00004 ISav: +,040707,,,A*76 $GPVTG,48.55,T,,M,0.00 0000 encoderSpeed: +00000 curr01,N,0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103353.400,4046.008311,N,11913.672277,W,1,10,0.90,1184.925,M,-20.833,M,,*67 $GPGSA,A,3,10Motor1: +00000 +00000 +00000 ,16,18,21,30,07,12,29,05,06,,,1.58,0. PID: +00008 +00010 +00004 ISav: +90,1.29*0E $GPGSV,3,1,11,06,87,351,30 0000 encoderSpeed: +00000 curr2,07,76,313,34,24,74,358,18,21,49,275entSense: -00015 Velocity Steer: ,38*73 $GPGSV,3,2,11,10,36,049,40,3target current +00011 +00009 Gain: 0,29,195,40,29,22,106,31,18,21,205,37Kp Kd Ki +00015 +00000 +00001 min*73 $GPGSV,3,3,11,16,18,317,32,05,16dr maxdr maxa dead: +00030 +00200 ,184,38,12,07,173,36*43 $GPRMC,103353.4 00,A,4046.008311,N,11913.672277,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu$GPGGA,103353.600,4046.008311,N,119rrent +00011 +00009 Gain: Kp Kd Ki 13.672277,W,1,10,0.91,1184.928,M,-20. +0001 5 +00000 +00001 mindr maxdr 833,M,,*69 $GPRMC,103353.600,A,4046.maxa dead: +00030 +00200 +00255 +0008311,N,11913.672277,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 0010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103353.800,4046.008312,N,1 1913.672279,W,1,10,0.90,1184.930,M,-20.833,M,,*62 $GPRMC,103353.800,A,4046.Motor1: +00000 +00000 +00000 008312,N,11913.672279,W,0.001,48.55,PID: +00008 +00010 +00004 ISav: +0040707,,,A*70 $GPVTG,48.55,T,,M,0.000000 encoderSpeed: +00000 curre1,N,0.002,K,A*02 ntSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,10 3354.000,4046.008314,N,11913.672280,W,1,10,0.90,1184.931,M,-20.833,M,,*6C $GPRMC,103354.000,A,4046.008314,N,11913.672280,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103354.200,4046.008315,N,11913.672282,W,1,10,0.91,1184.932,M,-20.833,M,,*6F $GPRMC,103354.200,A,4046.Motor1: +00000 +00000 +00000 008315,N,11913.672282,W,0.001,48.55, PID: +00008 +00010 +00004 ISav: +040707,,,A*7E $GPVTG,48.55,T,,M,0.00000 00 encoderSpeed: +00000 curr1,N,0.002,K,A*02 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103354.400,4046.008316,N,11913.672283,W,1,10,0.91,1184.933,M,-20.833,M,,*6A $GPGSA,A,3,10,1Motor1: +00000 +00000 +00000 6,18,21,30,07,12,29,05,06,,,1.58,0.9 PID: +00008 +00010 +00004 ISav: +1,1.29*0F $GPGSV,3,1,11,06,87,351,3200000 encoderSpeed: +00000 curr,07,76,313,34,24,74,358,18,21,49,275entSense: -00015 Velocity Steer: ,37*7C $GPGSV,3,2,11,10,36,049,40,30target current +00011 +00009 Gain:,29,195,40,29,22,106,33,18,21,205,37* Kp Kd Ki +00015 +00000 +00001 mi71 $GPGSV,3,3,11,16,18,317,32,05,16,ndr maxdr maxa dead: +00030 +00200184,38,12,07,173,36*43 $GPRMC,103354.400, A,4046.008316,N,11913.672283,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target$GPGGA,103354.600,4046.008317,N,1191 current +00011 +00010 Gain: Kp Kd 3.672285,W,1,10,0.91,1184.934,M,-20.8Ki +00015 +00000 +00001 mindr max33,M,,*68 $GPRMC,103354.600,A,4046.0dr maxa dead: +00030 +00200 +0025508317,N,11913.672285,W,0.002,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103354.800,4046.008317,N,1191+00255 +00010 3.672285,W,1,10,0.91,1184.937,M,-20.833,M,,*65 $GPRMC,103354.800,A,4046.008317,N,11913.672285,W,0.001,48.55,0Motor1: +00000 +00000 +00000 40707,,,A*71 $GPVTG,48.55,T,,M,0.001PID: +00008 +00010 +000 04 ISav: +0,N,0.001,K,A*01 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103355.000,4046.008317,N,11913.672285,W,1,10,0.90,1184.939,M,-20.833,M,,*63 $GPRMC,103355.000,A,4046.008317,N,11913.672285,W,0.000,48.Motor1: +00000 +00000 +00000 55,040707,,,A*79 $GPVTG,48.55,T,,M,0PID: +00008 +00010 +00004 ISav: +0.000,N,0 .001,K,A*00 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103355.200,4046.008318,N,+00255 +00010 11913.672286,W,1,10,0.90,1184.940,M,-20.833,M,,*63 $GPRMC,103355.200,A,4046.008318,N,11913.672286,W,0.001,48.5Motor1: +00000 +00000 +00000 5,040707,,,A*76 $GPVTG,48.55,T,,M,0PID: +00008 +00010 +00004 ISav: +. 001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103355.400,4046.008319,N,11913.672286,W,1,10,0.90,1184.942,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.29*0E $GPGSV,3,1,11,06,87,351,32,07,76,313,34,24,74,358,18,21,49,275,37*7C $GPGSV,3,2,11,10,36, 049,40,30,29,195,40,29,22,105,33,18,21,205,37*72 $GPGSV,3,3,11,16,18,317,32,05,16,184,38,12,07,173,36*43 $GPRMC,103355.400,A,4046.008319,N,11913.672286,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Stee r: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103355.600,4046.008320,+00255 +00010 N,11913.672287,W,1,10,0.90,1184.943,M,-20.833,M,,*6E $GPRMC,103355.600,A,4046.008320,N,11913.672287,W,0.000,Motor1: +00000 +00000 +00000 48.55,040707,,,A*79 $GPVTG,48.55,T,, PID: +00008 +00010 +00004 ISav: +M,0.0 00,N,0.000,K,A*01 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103355.800,4046.008321,N,11913.672289,W,1,10,0.90,1184.943,M,-20.833,M,,*6F $GPRMC,103355.800,A,4046.008321,N,11913.672289,W,0.001,48.55,04Motor1: +00000 +00000 +00000 0707,,,A*79 $GPVTG,48.55,T,,M,0.001, PID: +00008 +00010 +00004 ISav: +N,0.002,K,A* 02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103356.000,4046.008322,N,11913+00255 +00010 .672289,W,1,10,0.90,1184.944,M,-20.833,M,,*60 $GPRMC,103356.000,A,4046.008322,N,11913.672289,W,0.000,48.55,04Motor1: +00000 +00000 +00000 0707,,,A*70 $GPVTG,48.55,T,,M,0.000,PID: +00008 +00010 +00004 ISav: +N,0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103356.200,4046.008322,N,11913.672289,W,1,10,0.90,1184.944,M,-20.833,M,,*62 $GPRMC,103356.200,A,4046.008322,N,11913.672289,W,0.000,48.55,04Motor1: +00000 +00000 +00000 0707,,,A*72 $GPVTG,48.55,T,,M,0.000,PID: +00008 +00010 +00004 ISav: +0N,0.000,K, A*01 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103356.400,4046.008322,N,11913.672289,W,1,10,0.90,1184.946,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.29Motor1: +00000 +00000 +00000 *0E $GPGSV,3,1,11,06,87,352,32,07,7 PID: +00008 +00010 +00004 ISav: +6,313,34,24,74 ,358,19,21,49,275,37*7E00000 encoderSpeed: +00000 curr $GPGSV,3,2,11,10,36,049,40,30,29,19entSense: -00014 Velocity Steer: 5,40,29,22,105,33,18,21,205,37*72 $Gtarget current +00011 +00010 Gain: PGSV,3,3,11,16,18,317,32,05,16,184,3Kp Kd Ki +00015 +00000 +00001 min8,12,07,173,36*43 $GPRMC,103356.400,dr maxdr maxa d ead: +00030 +00200 +00255 +00010 A,4046.008322,N,11913.672289,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$coderSpeed: +00000 currentSense: GPGGA,103356.600,4046.008322,N,11913.-00015 Velocity Steer: target cur672288,W,1,10,0.90,1184.948,M,-20.83rent +00011 +00009 Gain: Kp Kd Ki 3,M,,*6B $GPRMC,103356.600,A,4046.00+00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain:8322,N,11913.672288,W,0.001,48. 55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi$ndr maxdr maxa dead: + 00030 +00200GPGGA,103356.800,4046.008323,N,11913. +00255 +00010 672290,W,1,10,0.90,1184.949,M,-20.833,M,,*6C $GPRMC,103356.800,A,4046.008323,N,11913.672290,W,0.002,48.55,040Motor1: +00000 +00000 +00000 707,,,A*73 $GPVTG,48.55,T,,M,0.002,PID: +00008 +00010 +00004 ISav: +0N,0.003,K,A*00 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curren t +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$dr maxdr maxa dead: +00030 +00200 GPGGA,103357.000,4046.008325 ,N,11913.+00255 +00010 672292,W,1,10,0.91,1184.950,M,-20.833,M,,*68 $GPRMC,103357.000,A,4046.008325,N,11913.672292,W,0.002,48.55,040Motor1: +00000 +00000 +00000 707,,,A*7E $GPVTG,48.55,T,,M,0.002,NPID: +00008 +00010 +00004 ISav: +0,0.003,K,A*00 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103357.200,4046.008325,N,11913.672294,W,1,10,0.91,1184.951,M,-20.833,M,,*6D $GPRMC,103357.200,A,4046.008325,N,11913.672294,W,0.001,48.55,040Motor1: +00000 +00000 +00000 707,,,A*79 $GPVTG,48.55,T,,M,0.001,NPID: +00008 +00010 +00004 ISav : +0,0.002,K,A*02 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103357.400,4046.00832+00255 +00010 6,N,11913.672296,W,1,10,0.90,1184.952,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1Motor1: +00000 +00000 +00000 .29*0E $GPGSV,3,1,11,06,87,352,32,07 PID: +00008 +00010 +00004 ISav: +,76,313,34,24 ,74,358,19,21,49,275,3700000 encoderSpeed: +00000 curr*7E $GPGSV,3,2,11,10,36,049,40,30,29entSense: -00016 Velocity Steer: ,195,40,29,22,105,33,18,21,205,37*72 target current +00011 +00010 Gain: $GPGSV,3,3,11,16,18,317,32,05,16,18Kp Kd Ki +00015 +00000 +00001 min4,38,12,07,173,36*43 $GPRMC,103357.400,A, 4046.008326,N,11913.672296,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103357.600,4046.008328,N,11913.672298,W,1,10,0.91,1184.952,M,-20.833,M,,*6B $GPRMC,103357.600,A,4046.008328,N,11913.672298,W,0.002,48.55,040Motor1: +00000 +00000 +00000 707,,,A*7F $GPVTG,48.55,T,,M,0.002,NPID: +00008 +00010 +00004 ISav: +0,0.003,K,A*00 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target cu rrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$Gdr maxdr maxa dead: +00030 +00200 PGGA,103357.800,4046.008330,N,11913.6+00255 +00010 72299,W,1,10,0.90,1184.954,M,-20.833,M,,*6A $GPRMC,103357.800,A,4046.008330,N,11913.672299,W,0.001,48.55,040Motor1: +00000 +00000 +00000 707,,,A*7A $GPVTG,48.55,T,,M,0.001,N PID: +00008 +00010 +00004 ISav: ,0.002 ,K,A*02 +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103358.000,4046.008331,N,11913.672300,W,1,10,0.91,1184.954,M,-20.833,M,,*6C $GPRMC,103358.000,A,4046.008331,N,11913.672300,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curre nt +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103358.200,4046.008332,N,+00255 +00010 11913.672301,W,1,10,0.90,1184.956,M,-20.833,M,,*6F $GPRMC,103358.200,A,4046.008332,N,11913.672301,W,0.001,48Motor1: +00000 +00000 +00000 .55,040707,,,A*7D $GPVTG,48.55,T,,MPID: +00008 +00010 +00004 ISav: +,0.001,N,0.002,K, A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103358.400,4046.008333,N,11913.672302,W,1,10,0.91,1184.958,M,-20.833,M,,*64 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,352,32,07,76,313,34,24,74,358,18,21,49,275,37*7F $GPGSV,3,2,11,10,36,049,40,30,29,195,40,29, 22,105,33,18,21,205,37*72 $GPGSV,3,3,11,16,18,317,32,05,16,184,38,12,07,173,36*43 $GPRMC,103358.400,A,4046.008333,N,11913.672302,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target curr ent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPdr maxdr maxa dead: +00030 +00200 GGA,103358.600,4046.008333,N,11913.67+00255 +00010 2303,W,1,10,0.91,1184.959,M,-20.833,M,,*66 $GPRMC,103358.600,A,4046.008333,N,11913.672303,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curr ent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPdr maxdr maxa dead: +00030 +00200 GGA,103358.800,4046.008334,N,11913.67+00255 +00010 2304,W,1,10,0.90,1184.960,M,-20.833,M,,*63 $GPRMC,103358.800,A,4046.008334,N,11913.672304,W,0.001,48.55,0407Motor1: +00000 +00000 +00000 07,,,A*74 $GPVTG,48.55,T,,M,0.001,N, PID: +00008 +00010 +00004 ISav: +0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curren t +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPdr maxdr maxa dead: +00030 +00200GGA,103359.000,4046.008335,N,11913.67 +00255 +00010 2304,W,1,10,0.91,1184.963,M,-20.833,M,,*69 $GPRMC,103359.000,A,4046.008335,N,11913.672304,W,0.000,48.55,04070Motor1: +00000 +00000 +00000 7,,,A*7D $GPVTG,48.55,T,,M,0.000,N, PID: +00008 +00010 +00004 ISav: +0.001,K,A*0 0 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPdr maxdr maxa dead: +00030 +00200 GGA,103359.200,4046.008336,N,11913.67+00255 +00010 2306,W,1,10,0.90,1184.965,M,-20.833,M,,*6D $GPRMC,103359.200,A,4046.008336,N,11913.672306,W,0.001,48.55,04070Motor1: +00000 +00000 +00000 7,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0PID: +00008 +00010 +00004 ISav: +0.002,K,A*02 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103359.400,4046.008336,+00255 +00010 N,11913.672308,W,1,10,0.91,1184.965,M,-20.833,M,,*64 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.2Motor1: +00000 +00000 +00000 9*0F $GPGSV,3,1,11,06,87,352,32,07,PID: +00008 +00010 +00004 ISav: +076,313,34,24,74,358,18, 21,49,275,37*70000 encoderSpeed: +00000 currF $GPGSV,3,2,11,10,36,049,40,30,29,1entSense: -00013 Velocit95,40,18,22,205,37,29,22,105,33*71 $target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GPGSV,3,3,11,16,18,317,32,05,16,184,38,12,07,173,36*43 $GPRMC,103359.400,A,4046.008336,N,11913.672308,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103359.600,4046.008336,N,11913.672310,W,1,10,0.91,1184.967,M,-20.833,M,,*6D $GPRMC,103359.600,A,4046.008336,N,11913.672310,W,0.001,48.55,04070Motor1: +00000 +00000 +00000 7,,,A*7 C $GPVTG,48.55,T,,M,0.001,N,0 PID: +00008 +00010 +00004 ISav: +.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 current Sense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGdr maxdr maxa dead: +00030 +00200 GA,103359.800,4046.008336,N,11913.672+00255 +00010 312,W,1,10,0.91,1184.969,M,-20.833,M,,*6F $GPRMC,103359.800,A,4046.008336,N,11913.672312,W,0.001,48.55,04070Motor1: +00000 +00000 +00000 7,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0PID: +00008 +00010 +00004 ISav: +.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: tar get current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGdr maxdr maxa dead: +00030 +00200 GA,103400.000,4046.008337,N,11913.672+00255 +00010 314,W,1,10,0.91,1184.969,M,-20.833,M,,*6B $GPRMC,103400.000,A,4046.008337,N,11913.672314,W,0.001,48.55,04070Motor1: +00000 +00000 +00000 7,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0PID: +00008 +00010 +00004 ISav: +0.002,K,A*0 2 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,1 03400.200,4046.008338,N,11913.672317,W,1,10,0.91,1184.970,M,-20.833,M,,*6D $GPRMC,103400.200,A,4046.008338,N,11913.672317,W,0.002,48.55,040707,,,Motor1: +00000 +00000 +00000 A*79 $GPVTG,48.55,T,,M,0.002,N,0.003 PID: +00008 +00010 +00004 ISav: +,K,A*00 00000 encoderSpee d: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103400.400,4046.008339,N+00255 +00010 ,11913.672321,W,1,10,0.90,1184.972,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.29Motor1: +00000 +00000 +00000 *0E $GPGSV,3,1,11,06,87,352,32,07,7PID: +00008 +00010 +00004 ISav: +06,313,34,24,74,359,18,21 ,49,275,37*7E0000 encoderSpeed: +00000 curr $GPGSV,3,2,11,10,36,049,40,30,29,19entSense: -00016 Velocity Steer: 5,40,18,22,205,37,29,22,105,33*71 $target current +00011 +00010 Gain: GPGSV,3,3,11,16,18,317,32,05,16,184,Kp Kd Ki +00015 +00000 +00001 min39,12,07,173,36*42 $GPRMC,103400.400,A,4046.008339,N,11913.672321,W,0 .002,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPG-00015 Velocity Steer: target curGA,103400.600,4046.008340,N,11913.672rent +00011 +00010 Gain: Kp Kd Ki 323,W,1,10,0.90,1184.975,M,-20.833,M,+ 00015 +00000 +00001 mindr maxdr m,*65 $GPRMC,103400.600,A,4046.008340,N,11913.672323,W,0.002,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGentSense: -00014 Velocity Steer: A,103400.800,4046.008341,N,11913.672target current +00011 +00009 Gain: 325,W,1,10,0.91,1184.979,M,-20.833,M,Kp Kd Ki +00015 +00000 +00001 min,*61 $GPRMC,103400.800,A,4046.00834dr maxdr maxa dead: +00030 +00200 1,N,11913.672325,W,0.001,48.55,040707+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00,,,A*7F $GPVT G,48.55,T,,M,0.001,N,0.002,K,A*02 030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGdr maxdr maxa dead: +00030 +00200 A,103401.000,4046.008341,N,11913.6723+00255 +00010 25,W,1,10,0.90, 1184.982,M,-20.833,M,,*6D $GPRMC,103401.000,A,4046.008341,N,11913.672325,W,0.000,48.55,040707Motor1: +00000 +00000 +00000 ,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.PID: +00008 +00010 +00004 ISav: +001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +000 30 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGdr maxdr maxa dead: +00030 +00200 A,103401.200,4046.008342,N,11913.6723+00255 +0001 0 27,W,1,10,0.91,1184.985,M,-20.833,M,,*68 $GPRMC,103401.200,A,4046.008342,N,11913.672327,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr ma xdr maxa dead: +00030 +00200$GPGGA,103401.400,4046.008342,N, +00255 +00010 11913.672329,W,1,10,0.91,1184.988,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*Motor1: +00000 +00000 +00000 0F $GPGSV,3,1,11,06,87,352,32,07,76PID: +00008 +00010 +00004 ISav: +0,313,34,24,74,359,18,21,49,27 5,37*7E0000 encoderSpeed: +00000 curr $GPGSV,3,2,11,10,36,049,40,30,29,19entSense: -00014 Velocity Steer: 5,40,18,22,205,37,29,22,105,33*71 $Gtarget current +00011 +00010 Gain: PGSV,3,3,11,16,18,317,32,05,16,184,3Kp Kd Ki +00015 +00000 +00001 min9,12,07,173,36*42 $GPRMC,103401.400,A,4046.008342,N,11913.672329,W,0.001,48 .55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGG-00015 Velocity Steer: target curA,103401.600,4046.008343,N,11913.6723rent +00011 +00010 Gain: Kp Kd Ki 30,W,1,10,0.90,1184.989,M,-20.833,M,,+ 00015 +00000 +00001 mindr maxdr m*66 $GPRMC,103401.600,A,4046.008343,N,11913.672330,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGArentSense: -00016 Velocity Steer:,103401.800,4046.008343,N,11913.67233 target current +00011 +00010 Gain:1,W,1,10,0.91,1184.988,M,-20.833,M,, Kp Kd Ki +00015 +00000 +00001 mi*69 $G PRMC,103401.800,A,4046.008343ndr maxdr maxa dead: +00030 +00200,N,11913.672331,W,0.001,48.55,040707, +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0,,A*79 $GPVTG,48.55 ,T,,M,0.001,N,0.002,K,A*02 0030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103dr maxdr maxa dead: +00030 +00200 402.000,4046.008344,N,11913.672333,W,+00255 +00010 1,10,0.91,1184.9 87,M,-20.833,M,,*68 $GPRMC,103402.000,A,4046.008344,N,11913.672333,W,0.001,48.55,040707,,,A*Motor1: +00000 +00000 +00000 77 $GPVTG,48.55,T,,M,0.001,N,0.002,KPID: +00008 +00010 +00004 ISav: +,A*02 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00 200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGAdr maxdr maxa dead: +00030 +00200 ,103402.200,4046.008345,N,11913.67233+00255 +00010 5,W,1,10,0.91,1184.988,M,-20.833,M,,*62 $GPRMC,103402.200,A,4046.008345,N,11913.672335,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00012 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103402.400,4046.008345,N,+00255 +00010 11913.672335,W,1,10,0.91,1184.990,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0Motor1: +00000 +00000 +00000 F $GPGSV,3,1,11,06,87,352,32,07,76, PID: +00008 +00010 +00004 ISav: +313,34,24,74,359,18,21,49,275,37 *7E 00000 encoderSpeed: +00000 curr$GPGSV,3,2,11,10,36,049,40,30,29,195,entSense: -00015 Velocity Steer: 40,18,22,205,37,29,22,105,33*71 $GPtarget current +00011 +00010 Gain: GSV,3,3,11,16,18,317,32,05,16,184,39Kp Kd Ki +00015 +00000 +00001 min,12,07,173,36*42 $GPRMC,103402.400,A,4046.008345,N,11913.672335,W,0.001,48.55,040 707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA-00015 Velocity Steer: target cur,103402.600,4046.008346,N,11913.67233rent +00011 +00011 Gain: Kp Kd Ki 7,W,1,10,0.90,1184.993,M,-20.833,M,,*+00015 +00000 +00001 mindr maxdr m6C $GPRMC,103402.600,A,4046.008346,N,11913.672337,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +0 0015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGAentSense: -00015 Velocity Steer: ,103402.800,4046.008346,N,11913.67233target current +00011 +00010 Gain: 8,W,1,10,0.91,1184.996,M,-20.833,M,,*Kp Kd Ki +00015 +00000 +00001 min69 $GPRMC,10340 2.800,A,4046.008346,dr maxdr maxa dead: +00030 +00200 N,11913.672338,W,0.001,48.55,040707,,+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 103403.000,4046.008346,N,11913.672340,W,1,10,0.90,1184.998,M,-20.833,M,,*+002 55 +00010 60 $GPRMC,103403.000,A,4046.008346,N,11913.672340,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.00Motor1: +00000 +00000 +00000 1,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +002 55 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,Kp Kd Ki +00015 +00000 +00001 min103403.200,4046.008348,N,11913.672343dr maxdr maxa dead: +00030 +00200 ,W,1,10,0.91,1184.998,M,-20.833,M,,*+00255 +00010 6E $GPRMC,103403.200,A,4 046.008348,N,11913.672343,W,0.002,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.002,N,0.00Motor1: +00000 +00000 +00000 3,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +002 55 +00010 $GPGGA,103403.400,4046.008349,N,11913.672346,W,1,10,0.90,1184.999,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.29*0E $GPGSV,3,1,11,06,87,352,32,07,76,Motor1: +00000 +00000 +00000313,34,24,74,359,18,21,49,275,37*7E PID: +00008 +00010 +00004 ISav: $GPGS V,3,2,11,10,36,049,40,30,29,195,+00000 encoderSpeed: +00000 cur40,18,22,205,37,29,22,105,34*76 $GPrentSense: -00015 Velocity Steer:GSV,3,3,11,16,18,317,32,05,16,184,39, target current +00011 +00010 Gain:12,07,173,36*42 $GPRMC,103403.400,A, Kp Kd Ki +00015 +00000 +00001 mi4046.008349,N,11913.672346,W,0.002,48.55,040707 ,,,A*7E $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103403.600,4046.008350,N,11913.672349,W,1,10,0.91,1184.999,M,-20.833,M,,*68 $GPRMC,103403.600,A,4046.008350,N,11913.672349,W,0.002,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.002,N,Motor1: +00000 +00000 +00000 0.003,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA, 103403.800,4046.008350,N,11913.672351,W,1,10,0.91,1185.001,M,-20.833,M,,*66 $GPRMC,103403.800,A,4046.008350,N,11913.672351,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002Motor1: +00000 +00000 +00000 ,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr entSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103404.000,4046.008349,N,1191dr maxdr maxa dead: +00030 +00200 3.672352,W,1,10,0.90,1185.003,M,-20.8+00255 +00010 33,M,,*61 $GPRMC,103404.000,A,4046.008349,N,11913.672352,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.00Motor1: +00000 +00000 +00000 1,N,0.002,K,A*02 PID: +00008 +0001 0 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103404.200,4046.008348,dr maxdr maxa dead: +00030 +00200 N,11913.672354,W,1,10,0.90,1185.005,+00255 +00010 M,-20.833,M,,*62 $GPRMC,103404.200,A,4046.008348,N,11913.672354,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,Motor1: +00000 +00000 +00000 M,0.001,N,0.002,K,A*02 PID: +00008 +000 10 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103404.400,4046.0083dr maxdr maxa dead: +00030 +00200 47,N,11913.672354,W,1,10,0.90,1185.0+00255 +00010 07,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.90,1.29*0E $GPGSV,3,1,11,06,87,352,32,Motor1: +00000 +00000 +00000 07,76,313,34,24,74,359,18,21,49,275,PID: +00008 + 00010 +00004 ISav: +37*7E $GPGSV,3,2,11,10,36,049,40,30,00000 encoderSpeed: +00000 curr29,195,40,18,22,205,37,29,22,105,34*7entSense: -00014 Velocity Steer: 6 $GPGSV,3,3,11,16,18,317,32,05,16,1target current +00011 +00010 Gain: 84,39,12,07,173,36*42 $GPRMC,103404.400,A,4046.008347,N,11913.672354,W,0.001,48.55,040707,, ,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,1-00015 Velocity Steer: target cur03404.600,4046.008347,N,11913.672356,rent +00011 +00009 Gain: Kp Kd Ki W,1,10,0.91,1185 .009,M,-20.833,M,,*6+00015 +00000 +00001 mindr maxdr m6 $GPRMC,103404.600,A,4046.008347,N,11913.672356,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,1rentSense: -00015 Velocity Steer03404.800,4046.008349,N,11913.672358,: target current +00011 +00010 GainW,1,10,0.91,1185.010,M,-20.833,M,,*6: Kp Kd Ki +00015 +00000 +000 01 m0 $GPRMC,103404.800,A,4046.008349,N,indr maxdr maxa dead: +00030 +002011913.672358,W,0.001,48.55,040707,,,A0 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min*79 $GPVTG,48.55,T,,M,0.001,N,0.0 03,K,A*03 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103405.000,4046.008350,N,11913dr maxdr maxa dead: +00030 +00200 . 672362,W,1,10,0.91,1185.009,M,-20.83+00255 +00010 3,M,,*60 $GPRMC,103405.000,A,4046.008350,N,11913.672362,W,0.002,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,10Kp Kd Ki +00015 +00000 +00001 min3405.200,4046.008352,N,11913.672366,Wdr maxdr maxa dead: +00030 +00200 ,1,10,0.90,1185.008,M,-20.833,M,,*64+00255 +00010 $GPRMC,103405.200,A,4046.008352,N,11913.672366,W,0.003,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.003,N,0.005,K,A*07 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: targ et current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103405.400,4046.008352,N,119dr maxdr maxa dead: +00030 +00200 13.672368,W,1,10,0.91,1185.009,M,-20.+00255 +00010 833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,352,32,07,76,31Motor1: +00000 +00000 +00000 3,35,24,74,359,19,21,49,275,38*71 $G PID: +00008 +00010 +00004 ISav: +PGSV,3,2,11,10,36,049,40,30,29,195,3900000 encoderSpeed: +00000 curr,18,22,205,37,29,22,105,34*78 $GPGSentSense: -00013 Velocity Steer: V,3,3,11,16,18,317,25,05,16,184,37,12target current +00011 +00009 Gain: ,07,173,36*4A $GPRMC,103405.400,A,4046.008352,N,11913.672368,W,0.001,48.55,040707,,,A*7D $ GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGG-00015 Velocity Steer: target curA,103405.600,4046.008353,N,11913.6723rent +00011 +00010 Gain: Kp Kd Ki 69,W,1,10,0.90,1185.009,M,-20.83 3,M,+00015 +00000 +00001 mindr maxdr m,*6F $GPRMC,103405.600,A,4046.008353,N,11913.672369,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: K p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103405rentSense: -00014 Velocity Steer.800,4046.008353,N,11913.672371,W,1,: target current +00011 +00010 Gain10,0.91,1185.010,M,-20.833,M,,*61 $G: Kp Kd Ki +00015 +00000 +00001 mP RMC,103405.800,A,4046.008353,N,11913indr maxdr maxa dead: +00030 +0020.672371,W,0.001,48.55,040707,,,A*78 0 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: $Kp Kd Ki +00015 +00000 +00001 minGPGGA,103406.000,4046.008353,N,11913.dr maxdr maxa dead: +000 30 +00200 672372,W,1,10,0.91,1185.010,M,-20.833+00255 +00010 ,M,,*69 $GPRMC,103406.000,A,4046.008353,N,11913.672372,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,10 3406.200,4046.008353,N,11913.672374,W,1,10,0.91,1185.009,M,-20.833,M,,*65 $GPRMC,103406.200,A,4046.008353,N,11913.672374,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,KMotor1: +00000 +00000 +00000 ,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -000 14 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103406.400,4046.008354,N,1191dr maxdr maxa dead: +00030 +00200 3.672376,W,1,10,0.91,1185.009,M,-20.8+00255 +00010 33,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,352,32,07,76,313Motor1: +00000 +00000 +00000 ,35,24,74,359,20,21,49,275,38*7B $GP PID: +000 08 +00010 +00004 ISav: +GSV,3,2,11,10,36,049,40,30,29,195,39,00000 encoderSpeed: +00000 curr18,22,205,36,29,22,105,35*78 $GPGSVentSense: -00014 Velocity Steer: ,3,3,11,16,18,317,28,05,16,184,38,12,target current +00011 +00010 Gain: 07,173,36*48 $GPRMC,103406.400,A,4046.008354,N,11913.672376,W,0.001,48.55,040707,,,A*77 $GPVTG,4 8.55,T,,M,0.001,N,0.003,K,A*03 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA-00016 Velocity Steer: target cur,103406.600,4046.008354,N,11913.67237rent +00011 +00009 Gain: Kp Kd Ki 8,W,1,10,0.91,1185.010,M,-20.833,M, ,+00015 +00000 +00001 mindr maxdr m*62 $GPRMC,103406.600,A,4046.008354,N,11913.672378,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103entSense: -00015 Velocity Steer:406.800,4046.008354,N,11913.672380,W, target current +00011 +00011 Gain:1,10,0.91,1185.009,M,-20.833,M,,*63 Kp Kd Ki +00015 +00000 +00001 mi $GPRMC,10 3406.800,A,4046.008354,N,11ndr maxdr maxa dead: +00030 +00200913.672380,W,0.001,48.55,040707,,,A*7 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 2 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 mindr maxdr m axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGAKp Kd Ki +00015 +00000 +00001 min,103407.000,4046.008355,N,11913.67238dr maxdr maxa dead: +00030 +00200 0,W,1,10,0.91,1185.011,M,-20.833,M,,*+00255 +00010 62 $GPRMC,103407.000,A,4046.008355,N,11913.672380,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103 407.200,4046.008355,N,11913.672380,W,1,10,0.91,1185.012,M,-20.833,M,,*63 $GPRMC,103407.200,A,4046.008355,N,11913.672380,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,KMotor1: +00000 +00000 +00000 ,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103407.400,4046.008355,N,11913dr maxdr maxa dead: +00030 +00200 .672381,W,1,10,0.91,1185.016,M,-20.83+00255 +00010 3,M,,*60 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,352,32,07,76,313,Motor1: +00000 +00000 +00000 34,24,74,359,19,21,49,275,38*70 $GPG PID: +0000 8 +00010 +00004 ISav: +SV,3,2,11,10,36,049,40,30,29,195,39,00000 encoderSpeed: +00000 curr18,22,205,36,29,22,105,36*7B $GPGSV,entSense: -00015 Velocity Steer: 3,3,11,16,18,317,30,05,16,184,38,12,0target current +00011 +00009 Gain: 7,173,35*42 $GPRMC,103407.400,A,4046.008355,N,11913.672381,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T, ,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,1034-00014 Velocity Steer: target cur07.600,4046.008355,N,11913.672381,W,1rent +00011 +00010 Gain: Kp Kd Ki ,10,0.91,1185.019,M,-20.833,M,,*6D +00015 +00000 +00001 mindr maxdr $GPRMC,103407.600,A,4046.008355,N,11913.672381,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,1034entSense: -00014 Velocity Steer:07.800,4046.008355,N,11913.672384,W,1 target current +00011 +00009 Gain:,10,0.91,1185.019,M,-20.833,M,,*66 Kp Kd Ki +00015 +00000 +00001 mi$GPRMC,10340 7.800,A,4046.008355,N,119ndr maxdr maxa dead: +00030 +0020013.672384,W,0.001,48.55,040707,,,A*76 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain:$GPGGA,1034 Kp Kd Ki +00015 +00000 +00001 mi08.000,4046.008355,N,11913.672387,W,1ndr maxdr maxa dead: +000 30 +00200,10,0.91,1185.017,M,-20.833,M,,*6C +00255 +00010 $GPRMC,103408.000,A,4046.008355,N,11913.672387,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 $GPGGA,1034 08.200,4046.008356,N,11913.672388,W,1,10,0.91,1185.016,M,-20.833,M,,*63 $GPRMC,103408.200,A,4046.008356,N,11913.672388,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,Motor1: +00000 +00000 +00000 A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Veloci ty Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103408.400,4046.008356,N,11913.672390,W,1,10,0.91,1185.016,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,352,33,07,76,313,3Motor1: +00000 +00000 +00000 4,24,74,359,17,21,49,275,38*7F $GPGS PID: +00008 +00010 +00004 ISav: +V,3,2,11,10,36,049,40,30,29,19 5,39,100000 encoderSpeed: +00000 curr8,22,205,36,29,22,105,36*7B $GPGSV,3entSense: -00014 Velocity Steer: ,3,11,16,18,317,31,05,16,184,38,12,07target current +00011 +00009 Gain: ,173,35*43 $GPRMC,103408.400,A,4046.Kp Kd Ki +00015 +00000 +00001 min008356,N,11913.672390,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0 .001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,10340coderSpeed: +00000 currentSense: 8.600,4046.008356,N,11913.672390,W,1-00015 Velocity Steer: target cur,10,0.91,1185.016,M,-20.833,M,,*6E $rent +00011 +00010 Gain: Kp Kd Ki GPRMC,103408.600,A,4046.008356,N,119 +00015 +00000 +00001 mindr maxdr m13.672390,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,10340+00000 encoderSpeed: +00000 cur8.800,4046.008356,N,11913.672392,W,1rentSense: -00015 Velocity Steer:,10,0.91,1185.018,M,-20.833,M,,*6C $ target current +00011 +00008 Gain:GPRMC,103408.800,A, 4046.008356,N,1191 Kp Kd Ki +00015 +00000 +00001 mi3.672392,W,0.000,48.55,040707,,,A*7C ndr maxdr maxa dead: +00030 +00200 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103409.00Kp Kd Ki +00015 +00000 +00001 min0,4046.008356,N,11913.672393,W,1,10,dr maxdr maxa dead: +00030 +00200 0.91,1185.017,M,-20.833,M,,*6B $GPRM+00255 +00010 C,103409.000,A,4046.008356,N,11913.672393,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103409.200,4046.008356, N,11913.672395,W,1,10,0.91,1185.019,M,-20.833,M,,*61 $GPRMC,103409.200,A,4046.008356,N,11913.672395,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,AMotor1: +00000 +00000 +00000 *02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +002$ GPGGA,103409.400,4046.008355,N,11913.672396,W,1,10,0.91,1185.022,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,32,07,76,313,35,24,74,359,17,21,49,275,38*7E $GPGSV,3,2,11,10,36,049,40,30,29,195,39,18,22,205,36,29,22,105,36*7B $GPGSV,3,3,11, 16,18,317,31,05,16,184,38,12,07,173,36*40 $GPRMC,103409.400,A,4046.008355,N,11913.672396,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,10Kp Kd Ki +00015 +00000 +00001 min3409.600,4046.008354,N,11913.672399,dr maxdr maxa dead: +00030 +00200 W,1,10,0.91,1185.024,M,-20.833,M,,*6+00255 +00010 5 $GPRMC,103409.600,A,4046.008354,N,11913.672399,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.002,Motor1: +00000 +00000 +00000 K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103409.800,4046.008355,N,11 913.672400,W,1,10,0.91,1185.024,M,-20.833,M,,*6D $GPRMC,103409.800,A,4046.008355,N,11913.672400,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*Motor1: +00000 +00000 +00000 03 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity S teer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0020$ GPGGA,103410.000,4046.008356,N,11913.672401,W,1,11,0.90,1185.026,M,-20.833,M,,*6D $GPRMC,103410.000,A,4046.008356,N,11913.672401,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,Motor1: +00000 +00000 +00000 N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velo city Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103410.200,4046.0083 57,N,-20.833,M,,*6D $GPRMC,103410.200,A,4046.008357,N,11913.672402,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103410.400,4046.00835dr maxdr maxa dead: +00030 +00200 8,N,11913.672404,W,1,11,0.90,1185.02+00255 +00010 7,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,24,12,29,05,06,,1.51,0.90,1.21*09 $GPGSV,3,1,11,06,87,353,32,07,76,313,35,24,74,359,24,21,49,275,Motor1: +00000 +00000 +00000 38*7E $GPGSV,3,2,11,10,36,049,40 ,30,PID: +00008 +00010 +00004 ISav: +29,195,39,18,22,205,37,29,22,105,36*700000 encoderSpeed: +00000 currA $GPGSV,3,3,11,16,18,317,30,05,16,entSense: -00015 Velocity Steer: 184,38,12,07,173,36*41 $GPRMC,103410target current +00011 +00010 Gain: .400,A,4046.008358,N,11913.672404,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T, ,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,10coderSpeed: +00000 currentSense:3410.600,4046.008358,N,11913.672407,W -00015 Velocity Steer: target cu,1,10,0.90,1185.029,M,-20.833,M,,*6Drrent +00011 +00009 Gain: Kp Kd Ki $GPR MC,103410.600,A,4046.008358,N,11913.672407,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +0001 5 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103410.entSense: -00015 Velocity Steer: 800,4046.008357,N,11913.672408,W,1,1target current +00011 +00010 Gain: 0,0.91,1185.030,M,-20.833,M,,*6A $GKp Kd Ki +00015 +00000 +00001 minPRMC,10341 0.800,A,4046.008357,N,11913dr maxdr maxa dead: +00030 +00200 .672408,W,0.001,48.55,040707,,,A*71 +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103411.000,4046.008356,N,11913.672408,W,1,10,0.91,1185.031,M,-20.833,M,,*63 $GPRMC,103411.000,A,4046.008356,N,11913.672408,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderS peed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103411.200,4046.008356,N,11913.67 2408,W,1,10,0.91,1185.033,M,-20.833,M,,*63 $GPRMC,103411.200,A,4046.008356,N,11913.672408,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity S teer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103411.400,4046.008355 ,N,11913.672409,W,1,11,0.90,1185.035,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,24,12,29,05,06,,1.51,0.90,1.21*09 $GPGSV,3,1,11,06,87,353,32,07,76,313,35,24,74,359,23,21,49,275,3Motor1: +00000 +00000 +00000 9*78 $GPGSV,3,2,11,10,36,049,40,30,2PID: +00008 +00010 +00004 ISav: +09,195 ,39,18,22,205,37,29,22,105,36*70000 encoderSpeed: +00000 curreA $GPGSV,3,3,11,16,18,317,27,05,16,ntSense: -00015 Velocity Steer: t184,37,12,07,173,36*48 $GPRMC,103411arget current +00011 +00009 Gain: .400,A,4046.008355,N,11913.672409,W,0Kp Kd Ki +00015 +00000 +00001 min.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0. 000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103411.600,4046.008355,N,11913.672410,W,1,11,0.90,1185.037,M,-20.833,M,,*69 $GPRMC,103411.600,A,4046.008355,N,11913.672410,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr entSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103411.800,4046.008355,N, 11913.672411,W,1,11,0.90,1185.038,M,-20.833,M,,*69 $GPRMC,103411.800,A,4046.008355,N,11913.672411,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity St eer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103412.000,4046.008355,N,11913.672411,W, 1,10,0.91,1185.039,M,-20.833,M,,*63 $GPRMC,103412.000,A,4046.008355,N,11913.672411,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103412.200,4046.008356,N,11913.672412,W, 1,10,0.90,1185.041,M,-20.833,M,,*6F $GPRMC,103412.200,A,4046.008356,N,11913.672412,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Stee r: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPG GA,103412.400,4046.008356,N,11913.672413,W,1,10,0.91,1185.043,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,32,07,76,313,35,24,74,359,22,21,49,275,39*79 $GPGSV,3Motor1: +00000 +00000 +00000,2,11,10,36,049,40,30,29,195,39,18,22 PID: +00008 +00010 +00004 ISav: ,205,37,29,22 ,105,36*7A $GPGSV,3,3,1+00000 encoderSpeed: +00000 cur1,16,18,317,28,05,16,184,37,12,07,173rentSense: -00015 Velocity Steer:,36*47 $GPRMC,103412.400,A,4046.008 target current +00011 +00010 Gain:356,N,11913.672413,W,0.001,48.55,040 Kp Kd Ki +00015 +00000 +00001 mi707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +000$GPGGA,103408 +00010 +00004 ISav: +00000 en12.600,4046.008355,N,11913.672413,W,1coderSpeed: +00000 currentSense: ,10,0.91,1185.047,M,-20.833,M,,*6E -00014 Velocity Steer: target cur$GPRMC,103412.600,A,4046.008355,N,119rent +00011 +0 0010 Gain: Kp Kd Ki 13.672413,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00 001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103412.8000000 encoderSpeed: +00000 curr0,4046.008354,N,11913.672413,W,1,10,entSense: -00015 Velocity Steer: 0.91,1185.050,M,-20.833,M,,*67 $GPRMtarget current +00011 +00009 Gain: C,103412.800,A,4046.008354,N,11913.6Kp Kd Ki +00015 +0000 0 +00001 min72413,W,0.000,48.55,040707,,,A*7B $dr maxdr maxa dead: +00030 +00200 GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,1 PID: +00008 +00010 +00004 ISav: +03413.000,4046.008354,N,11913.672413,00000 encoderSpeed: +00000 currW,1,10,0.91,1185.052,M,-20.833,M,,*6entSense: -00015 Velocity Steer: C $GPRMC,103413.000,A,4046.008354,N,target current +00011 +00008 Gain: 11913.672413,W,0.000,48.55 ,040707,,,Kp Kd Ki +00015 +00000 +00001 minA*72 $GPVTG,48.55,T,,M,0.000,N,0.001dr maxdr maxa dead: +00030 +00200 +00255 +00010 ,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPG GA,10341target current +00011 +00010 Gain: 3.200,4046.008352,N,11913.672413,W,1Kp Kd Ki +00015 +00000 +00001 min,10,0.91,1185.056,M,-20.833,M,,*6C $dr maxdr maxa dead: +00030 +00200 GPRMC,103413.200,A,4046.008352,N,1191+00255 +00010 3.672413,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targ et current +00011 +00009 Gain: $GPGGA,103413.400,4046.008352,N,11Kp Kd Ki +00015 +00000 +00001 min913.672412,W,1,10,0.91,1185.058,M,-20dr maxdr maxa dead: +00030 +00200 .833,M,,*65 $GPGSA,A,3,10,16,18,21,3+00255 +00010 0,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,32,07,76,313,34,24,74,359 ,22,21,49,275,39*78 $GPGSV,3,2,11,10,36,049,40,30,29,195,39,18,22,205,37,29,22,105,36*7A $GPGSV,3,3,11,16,18,317,30,05,16,184,37,12,07,173,36*4E $GPRMC,103413.400,A,4046.008352,N,11913.672412,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense : -00014 Velocity Steer: $GPGtarget current +00011 +00010 Gain: GA,103413.600,4046.008352,N,11913.672Kp Kd Ki +00015 +00000 +00001 min414,W,1,10,0.91,1185.061,M,-20.833,M,dr maxdr maxa dead: +00030 +00200 ,*6B $GPRMC,103413.600,A,4046.00835+00255 +00010 2,N,11913.672414,W,0.000,48.55,040707 ,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +0 0000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103413.80target current +00011 +00010 Gain: 0,4046.008351,N,11913.672416,W,1,10,Kp Kd Ki +00015 +00000 +00001 min0.91,1185.062,M,-20.833,M,,*67 $GPRMdr maxdr maxa dead: +00030 +00200 C,103413.800,A,4046.008351,N,11913.67+00255 +00010 2416 ,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +0001 0 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: $GPGGA,103414.00target current +00011 +00010 Gain: 0,4046.008351,N,11913.672418,W,1,10,0Kp Kd Ki +00015 +00000 +00001 min.91,1185.062,M,-20.833,M,,*66 $GPRMCdr maxdr maxa dead: +00030 +00200 ,103414.000,A,4046.008351,N,11913.67+00255 +00010 2418,W,0.001,48.55,040707,,,A*7A $GPVTG ,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103414.20 0,4046.008350,N,11913.672420,W,1,10,0.91,1185.063,M,-20.833,M,,*6F $GPRMC,103414.200,A,4046.008350,N,11913.672420,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,10 3target current +00011 +00010 Gain: 414.400,4046.008351,N,11913.672421,W,Kp Kd Ki +00015 +00000 +00001 min1,10,0.91,1185.064,M,-20.833,M,,*6E dr maxdr maxa dead: +00030 +00200 $GPGSA,A,3,10,16,18,21,30,07,12,29,0+00255 +00010 5,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,32,07,76,313,34,24,74,359,19,21,49,275,39*70 $GPGSV,3,2,11Motor1: +00000 +00000 +00000 ,1 0,36,049,40,30,29,195,39,18,22,205,PID: +00008 +00010 +00004 ISav: +37,29,22,105,37*7B $GPGSV,3,3,11,16,00000 encoderSpeed: +00000 curr18,317,29,05,16,184,37,12,07,173,35*entSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00 200 +00255 +00010 45 $GPRMC,103414.400,A,4046.008351,N,11913.672421,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103414.600,4046.008350,N,11913.672423,W,1,10,0.91,1185.066,M,-20.833,M,,*6D $GPRMC,103414.600,A,4046.008350,N,11913.672423,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55 ,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,10 3414.800target current +00011 +00010 Gain:,4046.008349,N,11913.672424,W,1,10,0. Kp Kd Ki +00015 +00000 +00001 mi91,1185.068,M,-20.833,M,,*62 $GPRMCndr maxdr maxa dead: +00030 +00200,103414.800,A,4046.008349,N,11913.672 +00255 +00010 424,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103415.000,4046.008349,N,11913.672425,W,1, 10,0.90,1185.070,M,-20.833,M,,*62 $GPRMC,103415.000,A,4046.008349,N,11913.672425,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curre nt +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,10341 5.200target current +00011 +00009 Gain: ,4046.008348,N,11913.672427,W,1,10,0.Kp Kd Ki +00015 +00000 +00001 min91,1185.072,M,-20.833,M,,*60 $GPRMC,dr maxdr maxa dead: +00030 +00200 103415.200,A,4046.008348,N,11913.6724+00255 +00010 27,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,targ et current +00011 +00010 Gain: 103415.400,4046.008348,N,11913.672429Kp Kd Ki +00015 +00000 +00001 min,W,1,10,0.91,1185.074,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 6E $GPGSA,A,3,10,16,18,21,30,07,12,2+00255 +00010 9,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,32,07,76,313,34,24,74,359,18,21,49,275,39*71 $GPGSV,3,2,Motor1: +00000 +00000 +00000 11,10,36, 049,40,30,29,195,39,18,22,20 PID: +00008 +00010 +00004 ISav: +5,37,29,22,105,37*7B $GPGSV,3,3,11,00000 encoderSpeed: +00000 curr16,18,317,28,05,16,184,36,12,07,173,entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0020 0 +00255 +00010 35*45 $GPRMC,103415.400,A,4046.008348,N,11913.672429,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103415.600,4046.008347,N,11913.672430,W,1,10,0.91,1185.076,M,-20.833,M,,*69 $GPRMC,103415.600,A,4046.008347,N,11913.672430,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T, ,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer:$GPGGA,103415. 800, target current +00011 +00009 Gain:4046.008347,N,11913.672431,W,1,10,0. Kp Kd Ki +00015 +00000 +00001 mi91,1185.078,M,-20.833,M,,*68 $GPRMC,ndr maxdr maxa dead: +00030 +00200103415.800,A,4046.008347,N,11913.6724 +00255 +00010 31,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103416.t arget current +00011 +00010 Gain: 000,4046.008347,N,11913.672432,W,1,1Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 0,0.91,1185.080,M,-20.833,M,,*67 $GPRMC,103416.000,A,4046.008347,N,11913.+00255 +00010 672432,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,target current +00011 +00009 Gain: 103416.200,4046.008346,N,11913.672433Kp Kd Ki +00015 +00000 +00001 min,W,1,10,0.91,1185.083,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 66 $GPRMC,103416.200,A,4046.008346,N+00255 +00010 ,11913.672433,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103416.400,4046.008345,N,11913.672434,W,1,10,0.91,1185.083,M,-20.833,M,,*64 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,32,07,76,313,34,24,74,359,21,21,49,275,39*7B $GPGSV,3,2,11,10,35,049,40,30,29,195,39,18,22,205,38,29,22,105,37*77 $GPGS V,3,3,11,16,18,317,29,05,16,184,36,12,07,173,35*44 $GPRMC,103416.400,A,4046.008345,N,11913.672434,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,target cur rent +00011 +00010 Gain: 103416.600,4046.008345,N,11913.672435Kp Kd Ki +00015 +00000 +00001 min,W,1,10,0.91,1185.085,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 61 $GPRMC,103416.600,A,4046.008345,N+00255 +00010 ,11913.672435,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$GPGGA,1034 targ et current +00011 +00010 Gain:16.800,4046.008345,N,11913.672435,W,1 Kp Kd Ki +00015 +00000 +00001 mi,10,0.91,1185.085,M,-20.833,M,,*6F ndr maxdr maxa dead: +00030 +00200$GPRMC,103416.800,A,4046.008345,N,119 +00255 +00010 13.672435,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103417.0target current +00011 +00010 Gain: 00,4046.008345,N,11913.672437,W,1,10Kp Kd Ki +00015 +00000 +00001 min,0.91,1185.088,M,-20.833,M,,*69 $GPRdr maxdr maxa dead: +00030 +00200 MC,103417.000,A,4046.008345,N,11913.6+00255 +00010 72437,W,0.002,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103417.200,4 046.008345,N,11913.672438,W,1,10,0.91,1185.089,M,-20.833,M,,*65 $GPRMC,103417.200,A,4046.008345,N,11913.672438,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103417target current +00011 +00010 Gain: .400,4046.008345,N,11913.672438,W,1,Kp Kd Ki +00015 +00000 +00001 min10,0.91,1185.090,M,-20.833,M,,*6B $Gdr maxdr maxa dead: +00030 +00200 PGSA,A,3,10,16,18,21,30,07,12,29,05,0+00255 +00010 6,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,33,07,76,313,34,24,74,359,19,21,49,275,39*71 $GPGSV,3,2,11,10Motor1: +00000 +00000 +00000 ,35,049,40,30,29, 195,39,18,22,205,38, PID: +00008 +00010 +00004 ISav: +29,22,105,37*77 $GPGSV,3,3,11,16,1800000 encoderSpeed: +00000 curr,317,31,05,16,184,36,12,07,173,34*4C entSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0 0010 $GPRMC,103417.400,A,4046.008345,N,11913.672438,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103417.600,4046.008345,N,11913.672439,W,1,10,0.91,1185.093,M,-20.833,M,,*6B $GPRMC,103417.600,A,4046.008345,N,11913.672439,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +0001 0 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: t$GPGGA,103417.800,40arge t current +00011 +00010 Gain: 46.008345,N,11913.672439,W,1,10,0.91Kp Kd Ki +00015 +00000 +00001 min,1185.097,M,-20.833,M,,*61 $GPRMC,10dr maxdr maxa dead: +00030 +00200 3417.800,A,4046.008345,N,11913.67243+00255 +00010 9,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encod erSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,103418.000,40t arget current +00011 +00010 Gain: 46.008343,N,11913.672440,W,1,10,0.91,Kp Kd Ki +00015 +00000 +00001 min1185.101,M,-20.833,M,,*60 $GPRMC,10dr maxdr maxa dead: +00030 +00200 3418.000,A,4046.008343,N,11913.67244+00255 +00010 0,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103418.200,40target current +00011 +00011 Gain: 46.008344,N,11913.672442,W,1,10,0.91,Kp Kd Ki +00015 +00000 +00001 min1185.102,M,-20.833,M,,*64 $GPRMC,103dr maxdr maxa dead: +00030 +00200 418.200,A,4046.008344,N,11913.672442+00255 +00010 ,W,0.002,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoder Speed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103target current + 00011 +00010 Gain: 418.400,4046.008344,N,11913.672444,W,Kp Kd Ki +00015 +00000 +00001 min1,10,0.91,1185.103,M,-20.833,M,,*65 dr maxdr maxa dead: +00030 +00200 $GPGSA,A,3,10,16,18,21,30,07,12,29,0+00255 +00010 5,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,34,07,76,313,34,24,74,359,18,21,49,275,39*77 $GPGSV,3,2,11Motor1: +00000 +00000 +00000 ,10,35,049,40,30,29,1 95,39,18,22,205,PID: +00008 +00010 +00004 ISav: +38,29,22,105,38*78 $GPGSV,3,318,317,33,05,16,184,37,12,07,173,35*entSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 4E $GPRMC,103418.400,A,4046.008344,N,11913.672444,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103418.600,4046.008345,N,11913.672446,W,1,10,0.91,1185.105,M,-20.833,M,,*62 $GPRMC,103418.600,A,4046.008345,N,11913.672446,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00007 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103418.800,40 46.008345,N,11913.672448,W,1,10,0.91,1185.106,M,-20.833,M,,*61 $GPRMC,103418.800,A,4046.008345,N,11913.672448,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00012 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103419.000,4046.008345,N,11913.672450,W,1,10,0 .91,1185.109,M,-20.833,M,,*6E $GPRMC,103419.000,A,4046.008345,N,11913.672450,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 $GPGGA,103419.200,404current Sense: -00015 Velocity St6.008345,N,11913.672450,W,1,10,0.91,1eer: target current +00011 +00009 G185.110,M,-20.833,M,,*64 $GPRMC,103ain: Kp Kd Ki +00015 +00000 +00001419.200,A,4046.008345,N,11913.672450 mindr maxdr maxa dead: +00030 +0,W,0.000,48.55,040707,,,A*7D $GPVTG,0200 +00255 +00010 48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +0000 8 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: $GPGGA,1034target current +00011 +00010 Gain: 19.400,4046.008344,N,11913.672452,W,1Kp Kd Ki +00015 +00000 +00001 min,10,0.91,1185.113,M,-20.833,M,,*62 dr maxdr maxa dead: +00030 +00200 $GPGSA,A,3,10,16,18,21,30,07,12,29,0+00255 +00010 5,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,353,34,07,76,313,34,24,74,359,18,21,49,275,39*77 $GPGS V,3,2,11,10,35,049,40,30,29,195,39,18,22,205,38,29,22,105,38*78 $GPGSV,3,3,11,16,18,317,32,05,16,184,37,12,07,173,35*4F $GPRMC,103419.400,A,4046.008344,N,11913.672452,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103419.600ntSense: -00015 Velocity Steer: ,4046.008344,N,11913.672454,W,1,10,0.target current +00011 +00010 Gain: 91,1185.113,M,-20.833,M,,*66 $GPRMC,Kp Kd Ki +00015 +00000 +00001 min103419.600,A,4046.008344,N,11913.672dr maxdr maxa dead: +00030 +00200 454,W,0.001, 48.55,040707,,,A*7D $GP+00255 +00010 VTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103419.800,4046.00entSen se: -00014 Velocity Steer: 8345,N,11913.672455,W,1,10,0.91,1185.target current +00011 +00010 Gain: 114,M,-20.833,M,,*6F $GPRMC,103419.Kp Kd Ki +00015 +00000 +00001 min800,A,4046.008345,N,11913.672455,W,0.dr maxdr maxa dead: +00030 +00200 000,48.55,040707,,,A*72 $GPVTG,48.55+00255 +00010 ,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103420.000,404entSense: -000 15 Velocity Steer: 6.008345,N,11913.672457,W,1,10,0.91,1target current +00011 +00010 Gain: 185.116,M,-20.833,M,,*6D $GPRMC,1034Kp Kd Ki +00015 +00000 +00001 min20.000,A,4046.008345,N,11913.672457,dr maxdr maxa dead: +00030 +00200 W,0.001,48.55,040707,,,A*73 $GPVTG,4+00255 +00010 8.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00 004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103420.200,4046.008ntSense: -00016 Velocity Steer: 345,N,11913.672459,W,1,10,0.91,1185.1target current +00011 +00010 Gain: 17,M,-20.833,M,,*60 $GPRMC,103420.2Kp Kd Ki +00015 +00000 +00001 min00,A,4046.008345,N,11913.672459,W,0.dr maxdr maxa dead: +00030 +00200 001,48.55,040707,,,A*7F $GPVTG,48.55+00255 +00010 ,T,,M,0.001,N,0.001,K, A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,10342entSense: -00015 Velo city Steer: 0.400,4046.008345,N,11913.672461,W,1target current +00011 +00009 Gain: ,10,0.91,1185.118,M,-20.833,M,,*62 $Kp Kd Ki +00015 +00000 +00001 minGPGSA,A,3,10,16,18,21,30,07,12,29,05,dr maxdr maxa dead: +00030 +00200 06,,,1.58,0.91,1.29*0F $GPGSV,3,1,1+00255 +00010 1,06,87,353,34,07,76,313,34,24,74,3 59,18,21,49,275,39*77 $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,37,29,22,105,38*79 $GPGSV,3,3,11,16,18,317,32,05,16,184,37,12,07,173,33*49 $GPRMC,103420.400,A,4046.008345,N,11913.672461,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,10 3420.600,4046ntSense: -00015 Velocity Steer: .008344,N,11913.672461,W,1,10,0.91,11target current +00011 +00010 Gain: 85.120,M,-20.833,M,,*6A $GPRMC,10342Kp Kd Ki +00015 +00000 +00001 min0.600,A,4046.008344,N,11913.672461,Wdr maxdr maxa dead: +00030 +00200 ,0.000,48.55, 040707,,,A*70 $GPVTG,48+00255 +00010 .55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103420.80 0,4046.008 PID: +00008 +00010 +00004 ISav: +343,N,11913.672463,W,1,10,0.91,1185.100000 encoderSpeed: +00000 curr22,M,-20.833,M,,*63 $GPRMC,103420.8entSense: -00015 Velocity Steer: 00,A,4046.008343,N,11913.672463,W,0.0target current +00011 +00010 Gain: 00,48.55,040707,,,A*7B $GPVTG,48.55Kp Kd Ki +00015 +00000 +00001 min,T,,M,0.000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0020 0 +00255 +0$GPGGA,10340010 21.000,4046.008342,N,11913.672465,W,1,11,0.90,1185.124,M,-20.833,M,,*6B $GPRMC,103421.000,A,4046.008342,N,11913.672465,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +0001 1 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10342 1.200,4046.008340,N,11913.672466,W,1,11,0.90,1185.125,M,-20.833,M,,*69 $GPRMC,103421.200,A,4046.008340,N,11913.672466,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gai n: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $ GPGGA,103421.400,4046.008339,N,11913.672467,W,1,11,0.90,1185.127,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,24,12,29,05,06,,1.51,0.90,1.21*09 $GPGSV,3,1,11,06,87,353,34,07,76,313,34,24,74,359,22,21,49,275,39*7E $GPGSV,3,2,11,10,35,049,40,30,29,195,40Motor1: +00000 +00000 +00000 ,18,22,205,37,29,22,105,39*78 $GPGSVPID: +00008 +00010 +00004 ISav: +,3,3,11,16,18, 317,32,05,16,184,37,12,00000 encoderSpeed: +00000 curr07,173,35*4F $GPRMC,103421.400,A,404entSense: -00016 Velocity Steer: 6.008339,N,11913.672467,W,0.000,48.5target current +00011 +00010 Gain: 5,040707,,,A*7F $GPVTG,48.55,T,,M,0Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead : +00030 +00200 +00255 +00010 .000,N,0.001,K,A*00 Motor$GPGGA,103421.600,41: +00000 +00000 +00000 PID: +000046.008339,N,11913.672469,W,1,10,0.908 +00010 +00004 ISav: +00000 en1,1185.127,M,-20.833,M,,*6E $GPRMC,1coderSpeed: +00000 currentSense: 03421.600,A,4046.008339,N,11913.6724-00016 Velocity Steer: target cur69,W,0.001,48.55 ,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 rent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103421.800,4046.00000 encoderSpeed: +00000 curr008338,N,11913.672471,W,1,10,0.91,118entSense: -00016 Velocity Steer: 5.127,M,-20.833,M,,*68 $GPRMC,10342target current +00011 +00010 Gain: 1.800,A,4046.008338,N,11913.672471,W,Kp Kd Ki +00015 +00000 +0 0001 min0.001,48.55,040707,,,A*74 $GPVTG,48.dr maxdr maxa dead: +00030 +00200 +00255 +00010 55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103422.000,4046. PID: +00008 +00010 +00004 ISav: 008338,N,11913.672473,W,1,10,0.91,118+00000 encoderSpeed: +00000 cur5.128,M,-20.833,M,,*6E $GPRMC,10342rentSense: -00016 Velocity Steer:2.000,A,4046.008338,N,11913.672473,W, target current +00011 +00009 Gain:0.000,48.55,040707,,,A*7C $GPVTG,48. Kp Kd Ki +00015 +00000 +0 0001 mi55,T,,M,0.000,N,0.001,K,A*00 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103422.20010 Motor1: +00 000 +00000 +00000 0,4046.008338,N,11913.672474,W,1,10, PID: +00008 +00010 +00004 ISav: +0.91,1185.129,M,-20.833,M,,*6A $GPRM00000 encoderSpeed: +00000 currC,103422.200,A,4046.008338,N,11913.67entSense: -00014 Velocity Steer: 2474,W,0.001,48.55,040707,,,A*78 $Gtarget current +00011 +00009 Gain: PVTG,48.55, T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 min dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$entSense: -00015 Velocity Steer: GPGG A,103422.400,4046.008337,N,11913.target current +00011 +00010 Gain: 672476,W,1,11,0.90,1185.130,M,-20.833Kp Kd Ki +00015 +00000 +00001 min,M,,*69 $GPGSA,A,3,10,16,18,21,30,07dr maxdr maxa dead: +00030 +00200 ,24,12,29,05,06,,1.51,0.90,1.21*09 +00255 +00010 $GPGSV,3,1,11,06,87,354,33,07,76,313,34,24,74,359,23,21,4 9,275,39*7F $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,37,29,22,105,39*78 $GPGSV,3,3,11,16,18,317,29,05,16,184,37,12,07,173,35*45 $GPRMC,103422.400,A,4046.008337,N,11913.672476,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103422.600,4046.008336,N,11913.672477,W,1 ,11,0.90,1185.131,M,-20.833,M,,*6A $GPRMC,103422.600,A,4046.008336,N,11913.672477,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103422entSense: -00015 Velocity Ste er: .800,4046.008336,N,11913.672478,W,1,target current +00011 +00010 Gain: 11,0.90,1185.134,M,-20.833,M,,*6E $GKp Kd Ki +00015 +00000 +00001 minPRMC,103422.800,A,4046.008336,N,11913dr maxdr maxa dead: +00030 +00200 .672478,W,0.001,48.55,040707,,,A*70 +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103423.000,4046.008336, N,11913.672479,W,1,10,0.91,1185.136,M,-20.833,M,,*64 $GPRMC,103423.000,A,4046.008336,N,11913.672479,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103423.200,4046.0entSense: -00015 Velocit y Steer: 08335,N,11913.672480,W,1,10,0.91,1185target current +00011 +00010 Gain: .138,M,-20.833,M,,*6D $GPRMC,103423Kp Kd Ki +00015 +00000 +00001 min.200,A,4046.008335,N,11913.672480,W,0dr maxdr maxa dead: +00030 +00200 .001,48.55,040707,,,A*7F $GPVTG,48.5+00255 +00010 5,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103423.4ntSense: -00014 Velocity Steer : 00,4046.008334,N,11913.672482,W,1,10target current +00011 +00010 Gain: ,0.91,1185.140,M,-20.833,M,,*67 $GPKp Kd Ki +00015 +00000 +00001 minGSA,A,3,10,16,18,21,30,07,12,29,05,06dr maxdr maxa dead: +00030 +00200 ,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,+00255 +00010 06,87,354,33,07,76,313,34,24,74,359,23,21,49,275,39*7F $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205 ,37,29Motor1: +00000 +00000 +00000 ,22,105,39*78 $GPGSV,3,3,11,16,18,3PID: +00008 +00010 +00004 ISav: +17,27,05,16,184,37,12,07,173,35*4B $00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +000 30 +00200 +00255 +00010 GPRMC,103423.400,A,4046.008334,N,11913.672482,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cu$GPGGA,103rrentSense: -00016 Velocity Steer423.600,4046.008334,N,11913.672484,W,: target current +00011 +00009 Gain1,11,0.90,1185.142, M,-20.833,M,,*61 : Kp Kd Ki +00015 +00000 +00001 m $GPRMC,103423.600,A,4046.008334,N,11913.672484,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 indr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 $GPGGA,103423.800currentSense: -00014 Velocity Ste,4046.008333,N,11913.672485,W,1,11,0.er: target current +00011 +00 010 Ga90,1185.145,M,-20.833,M,,*6E $GPRMC,in: Kp Kd Ki +00015 +00000 +00001 103423.800,A,4046.008333,N,11913.672 mindr maxdr maxa dead: +00030 +00485,W,0.001,48.55,040707,,,A*76 $GP200 +00255 +00010 VTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103424.000,4046.008332,N,11913.672485,W,1,1 1,0.90,1185.148,M,-20.833,M,,*6D $GPRMC,103424.000,A,4046.008332,N,11913.672485,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103424.200,4046.00entSense: -00016 Velocity Steer: 8331,N,11913.672486,W,1,10,0.91,1185.target current +00011 +00009 Gain: 151,M,-20.833,M,,*67 $GPRMC,103424.Kp Kd Ki +00015 +00000 +00001 min200,A,4046.008331,N,11913.672486,W,0.dr maxdr maxa dead: +00030 +00200 000,48.55,040707,,,A*7B $GPVTG,48.55+00255 +00010 ,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103424.400,4046.008329,N,11913.672488,W,1,10 ,0.91,1185.153,M,-20.833,M,,*64 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,354,33,07,76,313,34,24,74,359,23,21,49,275,39*7F $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,37,29,22,105,39*78 $GPGSV,3,3,11,16,18,317,31,05,16,184,37,12,07,173,35*4C $GPRMC,103424.400,A,4046.008329,N,11913.672488,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103424.600,404ntSense: -00014 Velocity Steer : 6.008328,N,11913.672489,W,1,10,0.91,1target current +00011 +00009 Gain: 185.156,M,-20.833,M,,*63 $GPRMC,1034Kp Kd Ki +00015 +00000 +00001 min24.600,A,4046.008328,N,11913.672489,dr maxdr maxa dead: +00030 +00200 W,0.000,48.55,040707,,,A*78 $GPVTG,4+00255 +00010 8.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103424.800,4046.008326,N,11913.67 2491,W,1,10,0.91,1185.160,M,-20.833,M,,*6F $GPRMC,103424.800,A,4046.008326,N,11913.672491,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00 015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103425.000,entSense: -00015 Velocity Steer: 404 6.008325,N,11913.672491,W,1,10,0.9target current +00011 +00010 Gain: 1,1185.164,M,-20.833,M,,*61 $GPRMC,1Kp Kd Ki +00015 +00000 +00001 min03425.000,A,4046.008325,N,11913.6724dr maxdr maxa dead: +00030 +00200 91,W,0.001,48.55,040707,,,A*7A $GPV+00255 +00010 TG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103425.200,ntSense: -00015 Velocity Steer: t404 6.008325,N,11913.672492,W,1,10,0.9arget current +00011 +00008 Gain: K0,1185.167,M,-20.833,M,,*62 $GPRMC,1p Kd Ki +00015 +00000 +00001 mind03425.200,A,4046.008325,N,11913.6724r maxdr maxa dead: +00030 +00200 92,W,0.000,48.55,040707,,,A*7A $GPVT+00255 +00010 G,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,1ntSense: -00015 Velocity Steer: t03425.400,404 6.008324,N,11913.672493,arget current +00011 +00009 Gain: KW,1,10,0.91,1185.170,M,-20.833,M,,*6p Kd Ki +00015 +00000 +00001 min3 $GPGSA,A,3,10,16,18,21,30,07,12,29dr maxdr maxa dead: +00030 +00200 ,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,+00255 +00010 1,11,06,87,354,33,07,76,313,34,24,74,359,23,21,49,275,39*7F $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,20Motor1: +00 000 +00000 +00000 5,37,29,22,105,39*78 $GPGSV,3,3,11,1 PID: +00008 +00010 +00004 ISav: +6,18,317,31,05,16,184,37,12,07,173,300000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0001 0 5*4C $GPRMC,103425.400,A,4046.008324,N,11913.672493,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103425.600,4046entSense: -00016 Velocity Steer: .008323,N,11913.672495,W,1,10,0.91,11target current +00011 +00009 Gain: 85.171,M,-20.833,M ,,*61 $GPRMC,10342Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 5.600,A,4046.008323,N,11913.672495,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103425.800,4046.0083rentSense: -00012 Velocity Steer:21,N,11913.672496,W,1,10,0.91,1185.17 target current +00011 +00010 Gain:1,M,-20.833,M,,*6E $GPRMC,103425.80 Kp Kd Ki +00 015 +00000 +00001 mi0,A,4046.008321,N,11913.672496,W,0.0ndr maxdr maxa dead: +00030 +0020001,48.55,040707,,,A*71 $GPVTG,48.55, +00255 +00010 T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targe t current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103426.000,4046.008321,N,11913.672499,W,1,10,0.91,1185.171,M,-20.833,M,,*6A $GPRMC,103426.000,A,4046.008321,N,11913.672499,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103426.200,4046.0083entSense: -00016 Velocity Steer: 21,N,11913.672501,W,1,10,0.91,1185.17target current +00011 +00010 Gain: 0,M,-20.833,M,,*69 $GPRMC,103426.20Kp Kd Ki +00015 +00000 +00001 min0,A,4046.008321,N,11913.672501,W,0.00dr maxdr maxa dead: +00030 +00200 1,48.55,040707,,,A*77 $GPVTG,48.55,T+00255 +00010 ,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderS peed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103426.40ntSense: -00015 Velocity Steer: 0,4046.0083 20,N,11913.672503,W,1,10,0target current +00011 +00010 Gain: .91,1185.170,M,-20.833,M,,*6C $GPGSAKp Kd Ki +00015 +00000 +00001 min,A,3,10,16,18,21,30,07,12,29,05,06,,,dr maxdr maxa dead: +00030 +00200 1.58,0.91,1.29*0F $GPGSV,3,1,11,06,+00255 +00010 87,354,33,07,76,313,34,24,74,359,22,21,49,275,39*7E $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,37,29,2Motor1: +00000 +00000 +00000 2,105,39*78 $GPGSV,3,3,11,16,18,317PID: +00008 +00010 +00004 ISav: +,31,05,16,184,37,12,07,173,34*4D $GP00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +000 10 RMC,103426.400,A,4046.008320,N,11913.672503,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103426.600,4046.entSense: -00014 Velocity Steer: 008318,N,11913.672504,W,1,10,0.91,118target current +00011 +00009 Gain: 5.172,M,-20.833,M,,*60 $ GPRMC,10342Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 6.600,A,4046.008318,N,11913.672504,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103426.800,4046.0083rentSense: -00015 Velocity Steer:17,N,11913.672506,W,1,10,0.91,1185.17 target current +00011 +00010 Gain:2,M,-20.833,M,,*63 $GPRMC,103426.80 Kp Kd Ki +00015 +00000 +00 001 mi0,A,4046.008317,N,11913.672506,W,0.00ndr maxdr maxa dead: +00030 +002001,48.55,040707,,,A*7F $GPVTG,48.55,T +00255 +00010 ,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr max dr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103427.000,40 PID: +00008 +00010 +00004 ISav: 46.008316,N,11913.672507,W,1,10,0.91+00000 encoderSpeed: +00000 cur,1185.172,M,-20.833,M,,*6A $GPRMC,10rentSense: -00016 Velocity Steer:3427.000,A,4046.008316,N,11913.67250 target current +00011 +00010 G ain:7,W,0.001,48.55,040707,,,A*76 $GPVTG Kp Kd Ki +00015 +00000 +00001 mi,48.55,T,,M,0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103427.200,4046.008315,N,11913.672509,W,1,10,0.91,1185.173,M, -20.833,M,,*64 $GPRMC,103427.200,A,4046.008315,N,11913.672509,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103427.400,4046.008314,N,11913.67251 2,W,1,10,0.91,1185.173,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,354,33,07,76,313,34,24,74,359,21,21,49,275,39*7D $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,38,29,2Motor1: +00000 +00000 +00000 2,105,39*77 $GPGSV,3,3,11,16,18,317,PID: +00008 +00010 +00004 ISav: +31,05,16,184,37,12,07,173,34*4D $GPR0000 0 encoderSpeed: +00000 currMC,103427.400,A,4046.008314,N,11913.6entSense: -00014 Velocity Steer: 72512,W,0.001,48.55,040707,,,A*74 $target current +00011 +00009 Gain: GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor$GPGGA,103427.600,4046.01: +00000 +00000 +00000 PID: +00008314,N,11913.672514,W,1,10,0.91,118508 +00010 +00004 ISav: +00000 en.173,M,-20.833,M,,*6D $GPRMC,103427coderSpeed: +00000 currentSense: .600,A,4046.008314,N,11913.672514,W,0-00015 Velocity Steer: target cur.001,48.55,040707,,,A*70 $GPVTG,48.5rent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 5,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103427.800,4046.008314 PID: +00008 +00010 +00004 ISav: +,N,11913.672517,W,1,10,0.91,1185.17300000 encoderSpeed: +00000 curr,M,-20.833,M,,*60 $GPRMC,103427.800entSense: -00015 Velocity Steer: ,A,4046.008314,N,11913.672517,W,0.001target current +00011 +00010 Gain: ,48.55,040707,,,A*7D $GPVTG,48.55,T,Kp Kd Ki +000 15 +00000 +00001 min,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +0000 0 +00000$GPGGA,103 PID: +00008 +00010 +00004 ISav: 428.000,4046.008315,N,11913.672519,W,+00000 encoderSpeed: +00000 cur1,11,0.90,1185.174,M,-20.833,M,,*6FrentSense: -00015 Velocity Steer: $GPRMC,103428.000,A,4046.008315,N,1 target current +00011 +00010 Gain:1913.672519,W,0.001,48.55,040707,,,A* Kp Kd Ki +00015 +00000 +00001 m75 $GPVTG,48.55,T,,M,0.001,N,0.002,Kindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 $GPGGA,103+00010 Motor1: +00000 +00000 +000428.200,4046.008315,N,11913.672520,W,00 PID: +00008 +00010 +00004 ISav1,11,0.90,1185.176,M,-20.833,M,,*65 : +00000 encoderSpeed: +00000 c $GPRMC,103428.200,A,4046.008315,N,11urrentSense: -00014 Velocity Stee913.672520,W,0.001,48.55,040707,,,A*r: target current +00011 +00009 Gai7D $GPVTG,48.55,T,,M,0.001,N,0.001,Kn: Kp Kd Ki +00015 +00000 +00001 ,A*01 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103428.400,010 Motor1: +00 000 +00000 +00000 4046.008314,N,11913.672522,W,1,10,0.9 PID: +00008 +00010 +00004 ISav: +1,1185.178,M,-20.833,M,,*6E $GPGSA,A00000 encoderSpeed: +00000 curr,3,10,16,18,21,30,07,12,29,05,06,,,1entSense: -00015 Velocity Steer: .58,0.91,1.29*0F $GPGSV,3,1,11,06,87target current +00011 +00009 Gain: ,354,33, 07,76,313,34,24,74,359,22,21,Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 49,275,39*7E $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,38,29,22,105,39*77 $GPGSV,3,3,11,16,18,317,31,05,16,184,37,12,07,173,35*4C $GPRMC,103428.400,A,4046.008314,N,11913.672522,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Mo tor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103428.600,4046.0083130010 Motor1: +00000 +00000 +00000,N,11913.672524,W,1,10,0.91,1185.180 PID: +00008 +00010 +00004 ISa v: ,M,-20.833,M,,*6A $GPRMC,103428.600,+00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 A,4046.008313,N,11913.672524,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.00 1,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103428.800,4046.008313,N,11913.672526,W,1,10,0.91,1185.183,M,-20.833,M,,*65 $GPRMC,103428.80 0,A,4046.008313,N,11913.672526,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103429.000,4046.008313,00000 encoderSpeed: +00000 currN,11913. 672528,W,1,10,0.90,1185.185,entSense: -00015 Velocity Steer: M,-20.833,M,,*65 $GPRMC,103429.000,target current +00011 +00009 Gain: A,4046.008313,N,11913.672528,W,0.001,Kp Kd Ki +00015 +00000 +00001 min48.55,040707,,,A*70 $GPVTG,48.55,T,,dr maxdr maxa dead: +00030 +00200 M,0.001,N,0.001,K,A*01 +00255 +000 10 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103429.200,4046.008312,00000 encoderSpeed: +00000 currN,11913 .672530,W,1,10,0.91,1185.186,entSense: -00015 Velocity Steer: M,-20.833,M,,*6D $GPRMC,103429.200,target current +00011 +00010 Gain: A,4046.008312,N,11913.672530,W,0.001,Kp Kd Ki +00015 +00000 +00001 mi48.55,040707,,,A*7A $GPVTG,48.55,T,,ndr maxdr maxa dead: +00030 +00200M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103429.400,4+00000 encoderSpeed: +00000 cur046.008312,N,11913.672 532,W,1,10,0.91rentSense: -00016 Velocity Steer:,1185.187,M,-20.833,M,,*68 $GPGSA,A, target current +00011 +00009 Gain:3,10,16,18,21,30,07,12,29,05,06,,,1. Kp Kd Ki +00015 +00000 +00001 mi58,0.91,1.29*0F $GPGSV,3,1,11,06,87,ndr maxdr maxa dead: +00030 +00200354,33,07,76,313,34,24,74,359,22,21, +00255 +00010 49,275,39*7E $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,38,29,22,105,39*77 $GPGSV,3,3,11,16,18,317,31,05,16,184,37,12,07,173,34*4D $GPRMC,103429.400,A,4046.008312,N,11913.672532,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103429.600,4046.008312,N,11913.672533,W,1,10,0.91,1185.1 89,M,-20.833,M,,*65 $GPRMC,103429.600,A,4046.008312,N,11913.672533,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103429.800,4046.008311,N,11913.672535,W,1,11,0.9 0,1185.192,M,-20.833,M,,*64 $GPRMC,103429.800,A,4046.008311,N,11913.672535,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103430.000,4046.008310,N,11913.672536,W,1,11,0.90,11 85.194,M,-20.833,M,,*60 $GPRMC,103430.000,A,4046.008310,N,11913.672536,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: K p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103430.200,4046.008309,N,11913.672538,W,1,11,0.90,1185 .197,M,-20.833,M,,*67 $GPRMC,103430.200,A,4046.008309,N,11913.672538,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103430.400,4046.008307,N,11913.672539,W, 1,11,0.90,1185.200,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,24,12,29,05,06,,1.51,0.90,1.21*09 $GPGSV,3,1,11,06,87,354,33,07,76,313,34,24,74,359,22,21,49,275,39*7E $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,38,29,22,105,39*77 $GPGSV,3,3,11,Motor1: +00000 +00000 +00000 16,18,317,32,05,16,184,37,12,06,173,PID: +00008 +00010 +00004 ISav: +034*4F $GPRMC ,103430.400,A,4046.008300000 encoderSpeed: +00000 curr7,N,11913.672539,W,0.000,48.55,040707entSense: -00014 Velocity Steer: ,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0target current +00011 +00010 Gain: .001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1$GPGGA,103430.60: +00000 +00000 +00000 PID: +00000,4046.008307,N,11913.672540,W,1,11,8 +00010 +00004 ISav: +00000 enc0.90,1185.203,M,-20.833,M,,*6C $GPRModerSpeed: +00000 currentSense: -C,103430.600,A,4046.008307,N,11913.6700015 Velocity Steer: target curr2540,W,0.001,48.55,040707,,,A*75 $Gent +00011 +00010 Gai n: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 PVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +0025 5 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103430.800,4 PID: +00008 +00010 +00004 ISav: +046.008306,N,11913.672542,W,1,11,0.9000000 encoderSpeed: +00000 curr,1185.205,M,-20.833,M,,*67 $GPRMC,10entSense: -00014 Velocity Steer: 3430.800,A,4046.008306,N,11913.67254target current +00011 +00010 Gain: 2,W,0.001,48.55,040707,,,A*78 $GPVTGKp Kd Ki +00015 +00000 +0000 1 min,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +000 00 $GPGGA,103431.000,4046.008306,N, PID: +00008 +00010 +00004 ISav: +11913.672543,W,1,10,0.91,1185.207,M,00000 encoderSpeed: +00000 cur-20.833,M,,*6D $GPRMC,103431.000,A,rentSense: -00014 Velocity Steer:4046.008306,N,11913.672543,W,0.001,48 target current +00011 +00010 Gain:.55,040707,,,A*70 $GPVTG,48.55,T,,M Kp Kd Ki +00015 +00000 +00001 mi,0.001,N,0.002,K,A*02 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103431.200,4046.008306,N, PID: + 00008 +00010 +00004 ISav: 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$GPRMC,103431.400,A,4046.008306,N,11913.672548,W,0.002,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103431.600,4046.008300000 encoderSpeed: +00000 curre5,N,11913.672550,W,1,10,0.91,1185.21ntSense: -00014 Velocity Steer: t4,M,-20.833,M,,*68 $GPRMC,103431.600arget current +000 11 +00009 Gain: K,A,4046.008305,N,11913.672550,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103431.800,4046.008304,N,11913.672550,W,1,10,0.91,1185.219,M,-20.833,M,,*6A $GPRMC,103431.800,A,4046.008304,N,11913.672550,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103432.000,4046.008302,N,0000 encoderSpeed: +00000 curr11913.672550,W,1,10,0 .91,1185.221,M,entSense: -00016 Velocity Steer: -20.833,M,,*6C $GPRMC,103432.000,A,4target current +00011 +00009 Gain: 046.008302,N,11913.672550,W,0.001,48.Kp Kd Ki +00015 +00000 +00001 min55,040707,,,A*75 $GPVTG,48.55,T,,M,dr maxdr maxa dead: +00030 +00200 0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103432.200,4046.008301,N,11913.672552,W,1,10,0.91,1185.222,M,-20.833,M,, *6C $GPRMC,103432.200,A,4046.008301,N,11913.672552,W,0.001,48.55,040707,,,A*76 $GPV Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103432.400,4046+00000 encoderSpeed: +00000 cur.008301,N,11913.672555,W,1,10,0. 91,11rentSense: -00014 Velocity Steer:85.223,M,-20.833,M,,*6C $GPGSA,A,3,1 target current +00011 +00009 Gain:0,16,18,21,30,07,12,29,05,06,,,1.58, Kp Kd Ki +00015 +00000 +00001 mi0.91,1.29*0F $GPGSV,3,1,11,06,87,35ndr maxdr maxa dead: +00030 +002004,33,07,76,313,34,24,74,359,21,21,49, +00255 +00010 275,39*7D $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,38,29 ,22,105,39*77 $GPGSV,3,3,11,16,18,317,32,05Motor1: +00000 +00000 +00000,16,184,36,12,06,173,34*4E $GPRMC,103432.400,A,4046.008301,N,11913.672555,W,0.002,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targ et current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103432.600,4046.0083020000 encoderSpeed: +00000 curre,N,11913.672559,W,1,10,0.91,1185.222ntSense: -00013 Velocity Steer: t,M,-20.833,M,,*60 $GPRMC,103432.600arget current +00011 + 00010 Gain: K,A,4046.008302,N,11913.672559,W,0.002,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103432.800,4046.008302,N,11913.672561,W,1,10,0.91,1185.222,M,-20.833,M,,*65 $GPRMC,103432.800,A,4046.008302,N,11913.672561,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103433.000,4046.008302,N,100000 encoderSpeed: +00000 curr1913.672563,W,1,10,0. 91,1185.223,M,-entSense: -00014 Velocity Steer:20.833,M,,*6F $GPRMC,103433.000,A,40 target current +00011 +00010 Gain:46.008302,N,11913.672563,W,0.001,48.5 Kp Kd Ki +00015 +00000 +00001 mi5,040707,,,A*74 $GPVTG,48.55,T,,M,0ndr maxdr maxa dead: +00030 +00200.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en coderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00012 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103433.200,4046.008302,N,11913.672565,W,1,10,0.91,1185.224,M,-20.833,M,,*6C $ GPRMC,103433.200,A,4046.008302,N,11913.672565,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +0001 5 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103433.400,4046.+00000 encoderSpeed: +00000 cur008302,N,11913.672566,W,1,10,0.91,1 18rentSense: -00015 Velocity Steer:5.226,M,-20.833,M,,*6B $GPGSA,A,3,1 target current +00011 +00010 Gain:0,16,18,21,30,07,12,29,05,06,,,1.58,0 Kp Kd Ki +00015 +00000 +00001 mi.91,1.29*0F $GPGSV,3,1,11,06,87,354ndr maxdr maxa dead: +00030 +00200,33,07,76,313,34,24,74,359,19,21,49,2 +00255 +00010 75,39*76 $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,38,29,22,105,39* 77 $GPGSV,3,3,11,16,18,317,32,05,Motor1: +00000 +00000 +00000 16,184,36,12,06,173,34*4E $GPRMC,103433.400,A,4046.008302,N,11913.672566,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur rent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103433.600,4046.008302,N,10000 encoderSpeed: +00000 curr1913.672567,W,1,10,0.91,1185.227,M,-2entSense: -00015 Velocity Steer: 0.833,M,,*69 $GPRMC,103433.600,A,404target current +00011 +0000 9 Gain: 6.008302,N,11913.672567,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +000 15 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103433.800,4046.008301,N,119130000 encoderSpeed: +00000 curre.672568,W,1,10,0.91,1185.229,M,-20.83ntSense: -00015 Velocity Steer: t3,M,,*65 $GPRMC,103433.800,A,4046.00arget current +0001 1 +00010 Gain: K8301,N,11913.672568,W,0.000,48.55,04p Kd Ki +00015 +00000 +00001 min0707,,,A*75 $GPVTG,48.55,T,,M,0.000,dr maxdr maxa dead: +00030 +00200 +00255 +00010 N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103434.000,4046.008301,00000 encoderSpeed: +00000 currN,11913.672568,W,1,10,0.91,118 5.230,entSense: -00015 Velocity Steer: M,-20.833,M,,*62 $GPRMC,103434.000,Atarget current +00011 +00009 Gain: ,4046.008301,N,11913.672568,W,0.001,4Kp Kd Ki +00015 +00000 +00001 min8.55,040707,,,A*7B $GPVTG,48.55,T,,dr maxdr maxa dead: +00030 +00200 M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enco derSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103434.200,40000 encoderSpeed: +00000 curre046.008301,N,11913.672569,W,1,10,0.9ntSens e: -00015 Velocity Steer: t1,1185.231,M,-20.833,M,,*60 $GPRMC,1arget current +00011 +00010 Gain: K03434.200,A,4046.008301,N,11913.6725p Kd Ki +00015 +00000 +00001 min69,W,0.000,48.55,040707,,,A*79 $GPVTdr maxdr maxa dead: +00030 +00200 G,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSp eed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103434.40+00000 encoderSpeed: +00000 cur0,4046.008301,N,11913.672570,W,1,10,0rentSense: -00014 Velocity Steer:.91,1185.232,M,-20.833,M,,*6D $GPGS target current +00011 +00009 Gain:A,A,3,10,16,18,21,30,07,12,29,05,06,, Kp Kd Ki +00015 +00000 +00001 mi,1.58,0.91,1.29*0F $GPGSV,3,1,11,06ndr maxdr maxa dead: +00030 +00200,87,354,33,07,76,313,34,24,74,359,19, +00255 +00010 21,49,275,39*76 $GPGSV,3,2,11,10,35,049,40,30,29,195,40,18,22,205,38,29,22,105,39 *77 $GPGSV,3,3,11,16,18,317Motor1: +00000 +00000 +00000 ,32,05,16,184,36,12,06,173,34*4E $GPPID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 RMC,103434.400,A,4046.008301,N,11913.672570,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103434.600,4046.008301,N00000 encoderSpeed: +00000 cur,11913.672571,W,1,10,0.91,1185.234,MrentSense: -00014 Velocity Steer: ,-20.833,M,,*68 $GPRMC,103434.600,Atarget current +00011 +00010 Gain: ,4046.008301,N,11913.672571,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103434.800,4046.008300,N,1100000 encoderSpeed: +00000 curr913 .672572,W,1,10,0.91,1185.235,M,-20entSense: -00015 Velocity Steer: .833,M,,*65 $GPRMC,103434.800,A,4046target current +00011 +00010 Gain: .008300,N,11913.672572,W,0.001,48.55Kp Kd Ki +00015 +00000 +00001 min,040707,,,A*79 $GPVTG,48.55,T,,M,0.0dr maxdr maxa dead: +00030 +00200 01,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 I Sav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103435.000,4046.008299,N,110000 encoderSpeed: +00000 curre913.672574,W,1,10,0.91,1185.237,M ,-20ntSense: -00015 Velocity Steer: t.833,M,,*69 $GPRMC,103435.000,A,4046arget current +00011 +00009 Gain: K.008299,N,11913.672574,W,0.000,48.55p Kd Ki +00015 +00000 +00001 min,040707,,,A*76 $GPVTG,48.55,T,,M,0.0dr maxdr maxa dead: +00030 +00200 00,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed : +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103435.200,4046.008298,N,1190000 encoderSpeed: +00000 curr13.672575,W,1,10,0.91,1185.239,M ,-20.entSense: -00014 Velocity Steer: 833,M,,*65 $GPRMC,103435.200,A,4046target current +00011 +00009 Gain: .008298,N,11913.672575,W,0.001,48.55Kp Kd Ki +00015 +00000 +00001 min,040707,,,A*75 $GPVTG,48.55,T,,M,0.0dr maxdr maxa dead: +00030 +00200 01,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpee d: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103435.400,4046.00 PID: +00008 +00010 +00004 ISav: +8298,N,11913.672577,W,1,10,0.91,118500000 encoderSpeed: +00000 cur.240,M,-20.833,M,,*6F $GPGSA,A,3,10,rentSense: -00015 Velocity Steer:16,18,21,30,07,12,29,05,06,,,1.58,0. target current +00011 +00009 Gain:91,1.29*0F $GPGSV,3,1,11,06,87,355,3 Kp Kd Ki +00015 +00000 +00001 mi3,07,76,313,34,24,74,359,20,21,49,275ndr maxdr maxa dead: +00030 +00200,39*7D $GPGSV,3,2,11,10,35,049,40,3 +00255 +00010 0,29, 195,40,18,22,205,38,29,22,105,39*77 $GPGSV,3,3,11,16,18,317,32,05,16Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 ,184,36,12,06,173,34*4E $GPRMC,103435.400,A,4046.008298,N,11913.672577,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103435.600,4046.008298,N,0000 encoderSpeed: +00000 curre11913.672579,W,1,10,0.91,1185.241,M,ntSense: -00015 Velocity Steer: -20.833,M,,*62 $GPRMC,103435.600,A,ta rget current +00011 +00009 Gain: 4046.008298,N,11913.672579,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +0 0011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103435.800,4046.008299,N,1190000 encoderSpeed: +00000 curr13.672581,W,1,10,0.91,1185.242,M,-20.entSense: -00014 Velocity Steer: 833,M,,*69 $GPRMC,103435.800,A,4046.target current +00011 +00009 Gain: 008299,N,11913.672581,W,0.002,48.55,Kp Kd Ki +00015 +00000 +00001 min040707,,,A*76 $GPVTG,48.55,T,,M,0.00dr maxdr maxa dead: +00030 +00200 +00255 +00010 2,N,0.003,K,A*00 $GPGGA,103436.000,4046.008299,N,11913.672583,W,1,10,0.91,1185.245,M,-20.833,M,,*67 $GPRMC,103436.00 0,A,4046.008299,N,11913.672583,W,0.002,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103436.200,4046.008298,N,11910000 encoderSpeed: +00000 curr3.672583,W,1,10,0.91,1185.246,M,-20.e ntSense: -00015 Velocity Steer: 833,M,,*67 $GPRMC,103436.200,A,4046.target current +00011 +00010 Gain: 008298,N,11913.672583,W,0.000,48.55,Kp Kd Ki +00015 +00000 +00001 min040707,,,A*7E $GPVTG,48.55,T,,M,0.00dr maxdr maxa dead: +00030 +00200 0,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103436.400,4046.008 PID: +00008 +00010 +00004 ISav: +297,N,11913.672584,W,1,10,0.91,1185.00000 enc oderSpeed: +00000 curr248,M,-20.833,M,,*67 $GPGSA,A,3,10,entSense: -00015 Velocity Steer: 16,18,21,30,07,12,29,05,06,,,1.58,0.9target current +00011 +00009 Gain:1,1.29*0F $GPGSV,3,1,11,06,87,355,33 Kp Kd Ki +00015 +00000 +00001 mi,07,76,313,34,24,74,359,20,21,49,275ndr maxdr maxa dead: +00030 +00200,39*7D $GPGSV,3,2,11,10,35,049,40,30 +00255 +00010 ,29,195,40 ,18,22,205,38,29,22,105,38*76 $GPGSV,3,3,11,16,18,317,32,05,16,184,36,12,06,173,33*49 $GPRMC,103436.400,A,4046.008297,N,11913.672584,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103436.600,4046.008297,N,1191PID: +00008 +00010 +00004 ISav: +03.672584,W,1,10,0.91,1185.250,M,-20.80000 encoderSpeed: +00000 curre33,M,,*6C $GPRMC,103436.600,A,4046.ntSense: -00015 Velocity Steer: t008297,N,11913.672584,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103436.800,4046.008296,N,1191 PID: +00008 +00010 +00004 ISav: +3.672585,W,1,10,0.91,1185.253,M,-20.800000 encoderSpeed: +00000 curr33,M,,*61 $GPRMC,103436.800,A,4046.entSense: -00015 Velocity Steer: 008296,N,11913.672585,W,0.001,48.55,target c urrent +00011 +00010 Gain: 040707,,,A*7D $GPVTG,48.55,T,,M,0.00Kp Kd Ki +00015 +00000 +00001 min1,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target c urrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103437.000,4046.008297,N,11913.672586,W,1,10,0.91,1185.256,M,-20.833,M,,*6F $GPRMC,103437.000,A,4046.008297,N,11913.672586,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103437.200,4046.008298,N,11913.672586,W,1,11,0.90,1185.257,M,-20.833,M,,*63 $GP RMC,103437.200,A,4046.008298,N,11913.672586,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Stee r: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103437.400,4046.008297,N,11913.672587,W,1,11,0.90,1185.259,M,-20.833,M,,*6 5 $GPGSA,A,3,10,16,18,21,30,07,24,12,29,05,06,,1.51,0.90,1.21*09 $GPGSV,3,1,11,06,87,355,33,07,76,313,34,24,74,359,22,21,49,275,39*7F $GPGSV,3,2,11,10,35,049,39,30,29,195,40,18,22,205,38,29,22,105,38*78 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173Motor1: +00000 +00000 +00000 ,33*49 $GPRMC,103437.400,A,4046.0082PID: +00008 +00010 +00004 ISav: +097,N,11913. 672587,W,0.000,48.55,04070000 encoderSpeed: +00000 curr07,,,A*72 $GPVTG,48.55,T,,M,0.000,N,entSense: -00015 Velocity Steer: 0.001,K,A*00 target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103437.6PID: +00008 +00010 +00004 ISav: +000,4046.008296,N,11913.6725 87,W,1,110000 encoderSpeed: +00000 curre,0.90,1185.262,M,-20.833,M,,*6E $GPRntSense: -00015 Velocity Steer: tMC,103437.600,A,4046.008296,N,11913.672587,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget curren t +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0 0030 +00200 +00255 +00010 $GPGGA,103437.800,4046.008296,N,11913.672588,W,1,10,0.91,1185.263,M,-20.833,M,,*6E $GPRMC,103437.800,A,4046.008296,N,11913.672588,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur rent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103438.000,4046.008295,N,11913.672589,W,1,10,0.91,1185.265,M,-20.833,M,,*6D $GPRMC,103438.000,A,4046.00829 5,N,11913.672589,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: tar get current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103438.200,4046.008295,N,11913.672589,W,1,10,0.91,1185.267,M,-20.833,M,,*6D $GPRMC,103438.200,A,4046.00 8295,N,11913.672589,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: tar get current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103438.400,4046.0082 PID: +00008 +00010 +00004 ISav: +95,N,11913.672590,W,1,10,0.91,1185.2700000 encoderSpe ed: +00000 curr1,M,-20.833,M,,*64 $GPGSA,A,3,10,16entSense: -00015 Velocity Steer:,18,21,30,07,12,29,05,06,,,1.58,0.91, target current +00011 +00009 Gain:1.29*0F $GPGSV,3,1,11,06,87,355,33,0 Kp Kd Ki +00015 +00000 +00001 mi7,76,313,34,24,74,000,22,21,49,275,3ndr maxdr maxa dead: +00030 +002009*70 $GPGSV,3,2,11,10,35,049,39,30,2 +00255 +00010 9,195,40,18,22,20 5,38,29,22,105,38*78 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103438.400,A,4046.008295,N,11913.672590,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: tar get current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103438.600,4046.008295,N,1PID: +00008 +00010 +00004 ISav: +01913.672590,W,1,10,0.91,1185.273,M,-20000 encoderSpeed: +00000 curre0.833,M,,*64 $GPRMC,103438.600,A,404ntSense: -00015 Velocity Steer: t6.008295,N,1191 3.672590,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $Motor1: +00000 +00000 +00000 GPGGA,103438.800,4046.008296,N,11913.PID: +00008 +00010 +00004 ISav: +0672591,W,1,10,0.91,1185.273,M,-20.8330000 encoderSpeed: +00000 curre,M,,*68 $GPRMC,103438.800,A,4046.00ntSense: -00015 Velocity Steer: t8296,N,11913.672591,W,0.001,48.55,04arget current +00011 +00010 Gain: 0707,,,A*76 $GPVTG,48.55,T,,M,0.001,Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00 011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$0010 GPGGA,103439.000,4046.008296,N,11913.672592,W,1,10,0.91,1185.273,M,-20.833,M,,*62 $GPRMC,103439.000,A,4046.008296,N,11913.672592,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $Motor1: +00000 +00000 +00000 GPGGA,103439.200,4046.008297,N,11913. PID: +00008 +00010 +00004 ISav: +672593,W,1,10,0.91,1185.274,M,-20.83300000 en coderSpeed: +00000 curr,M,,*67 $GPRMC,103439.200,A,4046.008entSense: -00014 Velocity Steer: 297,N,11913.672593,W,0.001,48.55,040target current +00011 +00010 Gain:707,,,A*7E $GPVTG,48.55,T,,M,0.001,N Kp Kd Ki +00015 +00000 +00001 mi,0.002,K,A*02 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103439.400,4046.00829 PID: +00008 +00010 +00004 ISav: +7,N,11913.672594,W,1,10,0.91,1185.2700000 encoderSpeed: +0 0000 curr5,M,-20.833,M,,*67 $GPGSA,A,3,10,16,entSense: -00016 Velocity Steer: 18,21,30,07,12,29,05,06,,,1.58,0.91,1target current +00011 +00010 Gain: .29*0F $GPGSV,3,1,11,06,87,355,33,07Kp Kd Ki +00015 +00000 +00001 min,76,313,34,24,74,000,22,21,49,275,39dr maxdr maxa dead: +00030 +00200 *70 $GPGSV,3,2,11,10,35,049,39,30,29+00255 +00010 ,195,40,18,22,205,38,2 9,22,105,38*78 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103439.400,A,4046.008297,N,11913.672594,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: targe t current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GMotor1: +00000 +00000 +00000 PGGA,103439.600,4046.008297,N,11913.PID: +00008 +00010 +00004 ISav: +0672594,W,1,10,0.91,1185.275,M,-20.8330000 encoderSpeed: +00000 curre,M,,*65 $GPRMC,103439.600,A,4046.008297,N,11913.672594,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 ntSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGAMotor1: +00000 +00000 +00000 ,103439.800,4046.008297,N,11913.6725PID: +00008 +00010 +00004 ISav: +095,W,1,10,0.91,1185.277,M,-20.833,M,,0000 encoderSpeed: +00000 curre*68 $GPRMC,103439.800,A,4046.008297ntSense: -00015 Velocity Steer: t,N,11913.672595,W,0.001,48.55,040707,arget current +00011 +00010 Gain: ,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.0Kp Kd Ki +00015 +00000 +00001 min01,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr max a dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103440.000,4046.008297,N,11 PID: +00008 +00010 +00004 ISav: 913.672595,W,1,10,0.91,1185.279,M,-20+00000 encoderSpeed: +00000 cur.833,M,,*60 $GPRMC,103440.000,A,4046rentSense: -00015 Velocity Steer:.008297,N,11913.672595,W,0.000,48.55 target current +0001 1 +00009 Gain:,040707,,,A*75 $GPVTG,48.55,T,,M,0.0 Kp Kd Ki +00015 +00000 +00001 mi00,N,0.001,K,A*00 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103440.200,4046.008297,N,11913.672595,W,1,10,0.91,1185.280,M,-20.833,M,,*64 $GPRMC,103440.200,A,4046.008297,N,11913.672595,W,0.000,48.55,0 40707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curr ent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103440.400,4046.008297 PID: +00008 +00010 +00004 ISav: +,N,11913.672595,W,1,10,0.91,1185.28100000 encoderSpeed: +00 000 curr,M,-20.833,M,,*63 $GPGSA,A,3,10,16,1entSense: -00014 Velocity Steer: 8,21,30,07,12,29,05,06,,,1.58,0.91,1.target current +00011 +00010 Gain:29*0F $GPGSV,3,1,11,06,87,355,33,07, Kp Kd Ki +00015 +00000 +00001 mi76,313,34,24,74,000,21,21,49,275,39*ndr maxdr maxa dead: +00030 +0020073 $GPGSV,3,2,11,10,35,049,39,30,29 +00255 +00010 ,195,40,18,22,205,38,29,22,1 05,38*78 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103440.400,A,4046.008297,N,11913.672595,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curre nt +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103440.600,4046.008298,N,119PID: +00008 +00010 +00004 ISav: +013.672596,W,1,10,0.91,1185.281,M,-20.0000 encoderSpeed: +00000 curre833,M,,*6D $GPRMC,103440.600,A,4046.ntSense: -00014 Velocity Steer: t008298,N,11913.672596, W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +0001 5 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPMotor1: +00000 +00000 +00000 GGA,103440.800,4046.008298,N,11913.67PID: +00008 +00010 +00004 ISav: +02595,W,1,10,0.91,1185.281,M,-20.833,0000 encoderSpeed: +00000 curreM,,*60 $GPRMC,103440.800,A,4046.008ntSense: -00015 Velocity Steer: t298,N,11913.672595,W,0.001,48.55,0407arget current +00011 +00010 Gain: 07,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103441.000,4046.008298,N,1191PID: +00008 +00010 +00004 ISav: +03.672596,W,1,10,0.91,1185.281,M,-20.0000 encoderSpeed: +00000 curr833,M,,*6A $GPRMC,103441.000,A,4046.entSense: -00014 Velocity Steer: 008298,N,11913.672596,W,0.000,48.55,tar get current +00011 +00008 Gain: 040707,,,A*78 $GPVTG,48.55,T,,M,0.00Kp Kd Ki +00015 +00000 +00001 min0,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,Motor1: +00000 +00000 +00000 103441.200,4046.008298,N,11913.672596PID: +00008 +00010 +00004 ISav: +,W,1,10,0.91,1185.282,M,-20.833,M,,*00000 encoderSpeed: + 00000 curr6B $GPRMC,103441.200,A,4046.008298,NentSense: -00016 Velocity Steer: ,11913.672596,W,0.001,48.55,040707,,,target current +00011 +00009 Gain: A*7B $GPVTG,48.55,T,,M,0.001,N,0.001Kp Kd Ki +00015 +00000 +00001 min,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103441.400,4046.008298, PID: +00008 +00010 +00004 ISav: N,11913.672594,W,1,10,0.91,1185.287,+00000 encoderSpeed: +00000 curM,-20.833,M,,*6A $GPGSA,A,3,10,16,18rentSense: -00014 Velocity Steer:,21,30,07,12,29,05,06,,,1.58,0.91,1.2 target current +00011 +00010 Gain:9*0F $GPGSV,3,1,11,06,87,355,33,07, Kp Kd Ki +00015 +00000 +00001 mi77,313,34,24,74,000,21,21,49,275,39*7ndr maxdr maxa dead: +00030 +002002 $GPGSV,3,2,11,10,35,049,39,30,29,1 +00255 +00010 95,40,18,22,205,38,29,22,105 ,38*78 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103441.400,A,4046.008298,N,11913.672594,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +0 0011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103441.600,4046.008297,N,1191PID: +00008 +00010 +00004 ISav: +03.672594,W,1,10,0.91,1185.289,M,-20.80000 encoderSpeed: +00000 curre33,M,,*69 $GPRMC,103441.600,A,4046.0ntSense: -00015 Velocity Steer: t08297,N,11913.672594,W,0.001,4 8.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGMotor1: +00000 +00000 +00000 GA,103441.800,4046.008298,N,11913.67PID: +00008 +00010 +00004 ISav: +02595,W,1,10,0.91,1185.290,M,-20.833,M0000 encoderSpeed: +00000 curre,,*61 $GPRMC,103441.800,A,4046.0082ntSense: -00015 Velocity Steer: t98,N,11913.672595,W,0.001,48.55,04070arget current +00011 +00010 Gain: 7,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 .001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0003 0 +00200 +00255 +00$GPG010 Motor1: +00000 +00000 +00000 GA,103442.000,4046.008299,N,11913.672 PID: +00008 +00010 +00004 ISav: +595,W,1,10,0.91,1185.291,M,-20.833,M,00000 encoderSpeed: +00000 curr,*6A $GPRMC,103442.000,A,4046.00829entSense: -00015 Velocity Steer: 9,N,11913.672595,W,0.000,48.55,040707targe t current +00011 +00009 Gain: ,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 .000,K,A*01 $GPGGA,1Motor1: +00000 +00000 +00000 03442.200,4046.008299,N,11913.672596PID: +00008 +00010 +00004 ISav: +0,W,1,10,0.91,1185.291,M,-20.833,M,,*60000 encoderSpeed: +0000 0 curreB $GPRMC,103442.200,A,4046.008299,NntSense: -00014 Velocity Steer: t,11913.672596,W,0.000,48.55,040707,,,arget current +00011 +00010 Gain: A*78 $GPVTG,48.55,T,,M,0.000,N,0.001Kp Kd Ki +00015 +00000 +00001 min,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103442.400,4046.008299,N PID: +00008 +00010 +00004 ISav: ,11913.672596,W,1,10,0.91,1185.293,M+00000 encoderSpeed: +00000 cu r,-20.833,M,,*6F $GPGSA,A,3,10,16,18,rentSense: -00015 Velocity Steer:21,30,07,12,29,05,06,,,1.58,0.91,1.29 target current +00011 +00010 Gain:*0F $GPGSV,3,1,11,06,87,355,33,07,7 Kp Kd Ki +00015 +00000 +00001 mi7,313,34,24,74,000,20,21,49,275,39*73ndr maxdr maxa dead: +00030 +00200 $GPGSV,3,2,11,10,35,049,39,30,29,1 +00255 +00010 95,40,18,22,205,38,29,22,105,38*7 8 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103442.400,A,4046.008299,N,11913.672596,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 + 00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGMotor1: +00000 +00000 +00000 GA,103442.600,4046.008299,N,11913.672PID: +00008 +00010 +00004 ISav: +0597,W,1,10,0.91,1185.293,M,-20.833,M,0000 encoderSpeed: +00000 curre,*6C $GPRMC,103442.600,A,4046.008299,N,11913.672597,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M, 0.000,N,0.001,K,A*00 ntSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00 001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGMotor1: +00000 +00000 +00000 A,103442.800,4046.008299,N,11913.672PID: +00008 +00010 +00004 ISav: +0597,W,1,10,0.91,1185.293,M,-20.833,M,0000 encoderSpeed: +00000 curre,*62 $GPRMC,103442.800,A,4046.00829ntSense: -00015 Velocity Steer: t9,N,11913.672597,W,0.000,48.55,040707arget current +00011 +00009 Ga in: K,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.p Kd Ki +00015 +00000 +00001 min000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +0020 0 +00255 +00$GPGGA,10010 Motor1: +00000 +00000 +000003443.000,4046.008298,N,11913.672597, PID: +00008 +00010 +00004 ISav: W,1,10,0.91,1185.294,M,-20.833,M,,*6+00000 encoderSpeed: +00000 curD $GPRMC,103443.000,A,4046.008298,N,rentSense: -00014 Velocity Steer:11913.672597,W,0.001,48.55,040707,,,A target current +00011 +00010 Gain:*7A $GPVTG,48.55,T,,M,0.001,N,0 .001, Kp Kd Ki +00015 +00000 +00001 miK,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00 200 +00255 +00$GPGG010 A,103443.200,4046.008299,N,11913.672598,W,1,10,0.91,1185.295,M,-20.833,M,,*60 $GPRMC,103443.200,A,4046.008299,N,11913.672598,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00 011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103443.400,4046.008299,N, PID: +00008 +00010 +00004 ISav: +11913.672598,W,1,10,0.91,1185.296,M,00000 encoderSpeed: +00000 cur r-20.833,M,,*65 $GPGSA,A,3,10,16,18,2entSense: -00016 Velocity Steer: 1,30,07,12,29,05,06,,,1.58,0.91,1.29*target current +00011 +00010 Gain: 0F $GPGSV,3,1,11,06,87,355,33,07,77Kp Kd Ki +00015 +00000 +00001 min,313,34,24,74,000,20,21,49,275,39*73 dr maxdr maxa dead: +00030 +00200 $GPGSV,3,2,11,10,35,049,39,30,29,19+00255 +00010 5,40,18,22,205,38,29,22,105,38*78 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103443.400,A,4046.008299,N,11913.672598,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103443.600,4046.008300,N,11913.672598,W,1,10,0.91,1185.297,M,-20.833,M,,*67 $GPRMC,103443.600,A,4046.008300,N,11913.672598,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +0 0010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGAMotor1: +00000 +00000 +00000 ,103443.800,4046.008300,N,11913.6725PID: +00008 +00010 +00004 ISav: +098,W,1,10,0.91,1185.299,M,-20.833,M,,0000 encoderSpeed: +00000 curre*67 $GPRMC,103443.800,A,4046.008300ntSense: -00014 Velocity Steer: t,N,11913.672598,W,0.000,48.55,040707,arget current +00011 +00010 Gain: K,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.0p Kd Ki +00015 +00000 +00001 min00,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GMotor1: +00000 +00000 +00000 PGGA,103444.000,4046.008300,N,11913. PID: +00008 +00010 +00004 ISav: +672598,W,1,10,0.91,1185.302,M,-20.83300000 encoderSpeed: +00000 cu rr,M,,*6B $GPRMC,103444.000,A,4046.008entSense: -00015 Velocity Steer: 300,N,11913.672598,W,0.002,48.55,040target current +00011 +00010 Gain: 707,,,A*71 $GPVTG,48.55,T,,M,0.002,NKp Kd Ki +00015 +00000 +00001 min,0.004,K,A*07 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGAMotor1: +00000 +00000 +00000 ,103444.200,4046.008299,N,11913.67259PID: +00008 +00010 +00004 ISav: +08,W,1,10,0.91,1185.304,M,-20.833,M,,0000 encoderSpeed: +00000 curre*6 E $GPRMC,103444.200,A,4046.008299,ntSense: -00014 Velocity Steer: tN,11913.672598,W,0.000,48.55,040707,arget current +00011 +00009 Gain: ,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.0Kp Kd Ki +00015 +00000 +00001 min00,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103444.400,4046.008301,N,11913.672600,W,1,10,0.91,1185.305,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0. 91,1.29*0F $GPGSV,3,1,11,06,87,355,33,07,77,313,34,24,74,000,20,21,49,275,39*73 $GPGSV,3,2,11,10,35,049,39,30,29,195,40,18,22,205,38,29,22,105,37*77 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103444.400,A,4046.008301,N,11913.672600,W,0.001,4Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +08.55,040707,,,A*75 $GPVTG,48.55,T,,M,0. 001,N,0.002,K,A*02 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103444.600,4046.008302,N,11913.67260Motor1: +00000 +00000 +000000,W,1,10,0.91,1185.305,M,-20.833,M,,* PID: +00008 +00010 +00004 ISav: 6A $ GPRMC,103444.600,A,4046.008302,+00000 encoderSpeed: +00000 curN,11913.672600,W,0.001,48.55,040707,,rentSense: -00015 Velocity Steer:,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103444.800,4046.008303,N,11913.67260Motor1: +00000 +00000 +00 000 0,W,1,10,0.91,1185.308,M,-20.833,M,,*PID: +00008 +00010 +00004 ISav: +068 $GPRMC,103444.800,A,4046.008303,0000 encoderSpeed: +00000 currN,11913.672600,W,0.001,48.55,040707,,entSense: -00015 Velocity Steer: ,A*7B $GPVTG,48.55,T,,M,0.001,N,0.00target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa d ead: +00030 +00200 +00255 +00010 1,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$G010 PGGA,103445.000,4046.008304,N,11913.6Motor1: +00000 +00000 +00000 726 01,W,1,10,0.91,1185.308,M,-20.833,PID: +00008 +00010 +00004 ISav: +0M,,*67 $GPRMC,103445.000,A,4046.0080000 encoderSpeed: +00000 curr304,N,11913.672601,W,0.001,48.55,0407entSense: -00017 Velocity Steer: 07,,,A*74 $GPVTG,48.55,T,,M,0.001,N,target current +00011 +00010 Gain: 0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 + 00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,010 103445.200,4046.008303,N,11913.67260Motor1: +00000 +00000 +00000 1,W,1,10,0.91,1185.310,M,-20.833, M,,* PID: +00008 +00010 +00004 ISav: +6B $GPRMC,103445.200,A,4046.008303,00000 encoderSpeed: +00000 currN,11913.672601,W,0.001,48.55,040707,,entSense: -00015 Velocity Steer: ,A*71 $GPVTG,48.55,T,,M,0.001,N,0.00target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 1,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103445.400,4046.008303,N,1Motor1: +00000 +00000 +00000 1913.672600 ,W,1,10,0.91,1185.311,M,-2PID: +00008 +00010 +00004 ISav: +00.833,M,,*6D $GPGSA,A,3,10,16,18,210000 encoderSpeed: +00000 curre,30,07,12,29,05,06,,,1.58,0.91,1.29*0ntSense: -00014 Velocity Steer: tF $GPGSV,3,1,11,06,87,355,33,07,77,arget current +00011 +00011 Gain: 313,34,24,74,000,20,21,49,275,39*73 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa d ead: +00030 +00200 +00255 +00010 $GPGSV,3,2,11,10,35,049,39,30,29,195,40,18,22,205,38,29,22,105,37*77 $GPGSV,3,3,11,16,19,317,32,05,16,184,37,12,06,173,34*4E $GPRMC,103445.400,A,4046.008303,N,11913.672600,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr m$GPaxa dead: +00030 +00200 +00255 +00GGA,103445.600,4046.008303,N,11913.67010 Motor1: +00000 +00000 +00000 2599,W,1,10,0.91,1185.312,M,-20.833, PID: +00008 +00010 +00004 ISav: +M,,*6F $GPRM C,103445.600,A,4046.00800000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 303,N,11913.672599,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GPGGA,103445.800,4046.008305,N,11913.672599Motor1: +00000 +00000 +0000 0 ,W,1,10,0.91,1185.312,M,-20.833,M,,* PID: +00008 +00010 +00004 ISav: +67 $GPRMC,103445.800,A,4046.008305,N00000 encoderSpeed: +00000 curr,11913.672599,W,0.000,48.55,040707,,,entSense: -00015 Velocity Steer: A*7E $GPVTG,48.55,T,,M,0.000,N,0.000target current +00011 +00009 Gain: ,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +0025 5 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103446.000,4046.008306,N,1191Motor1: +00000 +00000 +00000 3.672599,W,1,10,0.91,1185.314,M,-20.8PID: + 00008 +00010 +00004 ISav: +033,M,,*69 $GPRMC,103446.000,A,4046.00000 encoderSpeed: +00000 curre08306,N,11913.672599,W,0.001,48.55,0ntSense: -00015 Velocity Steer: t40707,,,A*77 $GPVTG,48.55,T,,M,0.00arget current +00011 +00010 Gain: K1,N,0.002,K,A*02 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103446.200,4046.008305,N,1Motor1: +00000 +00000 +00000 1913.672600,W,1,10,0.91,1185.314,M,-2PID: +00008 +00010 +00004 ISav: +00.833,M,,*6B $ GPRMC,103446.200,A,400000 encoderSpeed: +00000 curre46.008305,N,11913.672600,W,0.000,48.5ntSense: -00014 Velocity Steer: t5,040707,,,A*74 $GPVTG,48.55,T,,M,0arget current +00011 +00008 Gain: K.000,N,0.001,K,A*00 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103446.400,4046.008305,Motor1: +00000 +00000 +00000 N,11913.672600,W,1,10,0.91,1185.315, PID: +00008 +00010 +00004 ISav: +M,-20.833,M,,*6C $GPG SA,A,3,10,16,1800000 encoderSpeed: +00000 curr,21,30,07,12,29,05,06,,,1.58,0.91,1.2entSense: -00015 Velocity Steer: 9*0F $GPGSV,3,1,11,06,87,355,33,07,target current +00011 +00009 Gain: 77,313,34,24,74,000,21,21,49,275,38*7Kp Kd Ki +00015 +00000 +00001 min3 $GPGSV,3,2,11,10,35,049,39,30,28,1dr maxdr maxa dead: +00030 +00200 95,40,29,23,105,37,18,22,205,38*77 $+00255 +00010 GPGSV,3,3,11,16,19,317,30,05,16,184,36,12,06,173,32*4B $GPRMC,103446.400,A,4046.008305,N,11913.672600,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki $G PGGA,103446.600,4046.008305,N,1+00015 +00000 +00001 mindr maxdr m1913.672599,W,1,10,0.91,1185.316,M,-2axa dead: +00030 +00200 +00255 +000.833,M,,*6E $GPRMC,103446.600,A,404010 Motor1: +00000 +00000 +00000 6.008305,N,11913.672599,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur rentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dea d: +00030 +00200 +00255 +00010 $GPGGA,103446.800,4046.008305,N,11913.672598,Motor1: +00000 +00000 +00000 W,1,10,0.91,1185.315,M,-20.833,M,,*6PID: +00008 +00010 +00004 ISav: +02 $GPRMC,103446.800,A,4046.008305,N,0000 encoderSpeed: +00000 curre11913.672598,W,0.000,48.55,040707,,,AntSense: -00015 Velocity Steer: t*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 ar get current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +0000 1 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103447.000,4046.008305,N,11913.672596,W,1,10,0.91,1185.316,M,-20.833,M,,*66 $GPRMC,103447.000,A,4046.008305,N,11913.672596,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103447.200,4046.008305,N,11913Motor1: +00000 +00000 +00000 .672596,W,1,10,0.91,1185.319,M,-20.83 PID: +00008 +00010 +00004 ISav: +3,M,,*6B $GPRMC, 103447.200,A,4046.0000000 encoderSpeed: +00000 curr8305,N,11913.672596,W,0.000,48.55,04entSense: -00016 Velocity Steer: 0707,,,A*79 $GPVTG,48.55,T,,M,0.000,target current +00011 +00009 Gain: N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103447.400,4046.008306,N,11Motor1: +00000 +00000 +00000 913.672596,W,1,10,0.91,1185.322,M,-20 PID: +00008 +00010 +00004 ISav: +.833,M,,*66 $GPGSA,A,3 ,10,16,18,21,300000 encoderSpeed: +00000 curr0,07,12,29,05,06,,,1.58,0.91,1.29*0FentSense: -00015 Velocity Steer: $GPGSV,3,1,11,06,87,355,33,07,77,31target current +00011 +00009 Gain: 3,34,24,74,000,21,21,49,275,38*73 $GKp Kd Ki +00015 +00000 +00001 minPGSV,3,2,11,10,35,049,39,30,28,195,40dr maxdr maxa dead: +00030 +002 00,29,23,105,37,18,22,205,38*77 $GPGS +00255 +00010 V,3,3,11,16,19,317,30,05,15,184,36,12,06,173,32*48 $GPRMC,103447.400,A,4046.008306,N,11913.672596,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103447.600,4046.008307,N,11913.672Motor1: +00000 +00000 +00000 596,W,1,10,0.91,1185.323,M,-20.833,M,PID: +00008 +00010 +00004 ISav: +,*64 $G PRMC,103447.600,A,4046.0083000000 encoderSpeed: +00000 curr7,N,11913.672596,W,0.001,48.55,040707entSense: -00015 Velocity Steer: ,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.target current +00011 +00008 Gain: 002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103447.800,4046.008309,N,11913.672596,WMotor1: +00000 +00000 +00000 ,1,10,0.91,1185.323,M,-20.833,M,,*64PID: +00008 +00010 +00004 ISav: +0 $GPRMC,103447.800 ,A,4046.008309,N,10000 encoderSpeed: +00000 curr1913.672596,W,0.000,48.55,040707,,,A*entSense: -00017 Velocity Steer: 7F $GPVTG,48.55,T,,M,0.000,N,0.001,target current +00011 +00009 Gain: K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103448.000,4046.008309,N,11913.Motor1: +00000 +00000 +00000 672596,W,1,10,0.91,1185.325,M,-20.833 PID: +00008 +00010 +00004 ISav: ,M,,*65 $GPRMC,103448.0 00,A,4046.008+00000 encoderSpeed: +00000 cur309,N,11913.672596,W,0.000,48.55,040rentSense: -00015 Velocity Steer:707,,,A*78 $GPVTG,48.55,T,,M,0.000,N target current +00011 +00010 Gain:,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103448.200,4046.008309,N,11913.672596,WMotor1: +00000 +00000 +00000 ,1,10,0.91,1185.326,M,-20.833,M,,*64 PID: +00008 +00010 +00004 ISav: + $GPRMC,103448.200,A,40 46.008309,N,100000 encoderSpeed: +00000 curr1913.672596,W,0.000,48.55,040707,,,A*entSense: -00014 Velocity Steer: 7A $GPVTG,48.55,T,,M,0.000,N,0.001,target current +00011 +00010 Gain: K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103448.400,4046.0Motor1: +00000 +00000 +00000 08309,N,11913.672596,W,1,11,0.91,1185 PID: +00008 +00010 +00004 ISav: +.329,M,-20.833,M,,*6C $GPGSA,A,3,1 000000 encoderSpeed: +00000 curr,16,18,21,30,07,24,12,29,05,06,,1.51,entSense: -00016 Velocity Steer: 0.91,1.21*08 $GPGSV,3,1,11,06,87,356target current +00011 +00009 Gain: ,33,07,77,313,34,24,74,000,22,21,49,2Kp Kd Ki +00015 +00000 +00001 min75,38*73 $GPGSV,3,2,11,10,35,049,39dr maxdr maxa dead: +00030 +00200,30,28,195,4 0,29,23,105,37,18,22,205, +00255 +00010 38*77 $GPGSV,3,3,11,16,19,317,31,05,15,184,36,12,06,173,34*4F $GPRMC,103448.400,A,4046.008309,N,11913.672596,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103448.600,4046.008308,N,Motor1: +00000 +00000 +00000 11913.672595,W,1,11,0.90,1185.331,M,PID: +00008 +00010 +00004 ISav: +0-20.833,M,,*64 $GPRM C,103448.600,A,40000 encoderSpeed: +00000 curre046.008308,N,11913.672595,W,0.000,48ntSense: -00015 Velocity Steer: t.55,040707,,,A*7C $GPVTG,48.55,T,,Marget current +00011 +00009 Gain: K,0.000,N,0.000,K,A*01 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103448.800,4046.008308,N,11913.672595,W,Motor1: +00000 +00000 +00000 1,10,0.91,1185.334,M,-20.833,M,,*6F PID: +00008 +00010 +00004 ISav: + $GPRMC,103448.800,A,4046.0 08308,N,1100000 encoderSpeed: +00000 curr913.672595,W,0.000,48.55,040707,,,A*7entSense: -00016 Velocity Steer: 2 $GPVTG,48.55,T,,M,0.000,N,0.000,Ktarget current +00011 +00009 Gain: ,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103449.000,4046.00830Motor1: +00000 +00000 +00000 8,N,11913.672594,W,1,11,0.90,1185.33PID: +00008 +00010 +00004 ISav: +05,M,-20.833,M,,*66 $GPRMC,103449 .0000000 encoderSpeed: +00000 curre,A,4046.008308,N,11913.672594,W,0.001ntSense: -00015 Velocity Steer: t,48.55,040707,,,A*7B $GPVTG,48.55,T,arget current +00011 +00010 Gain: ,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103449.200,4046.008307,N,11913.672593,W,Motor1: +00000 +00000 +00000 1,10,0.91,1185.338,M,-20.833,M,,*61 PID: +00008 +00010 +00004 ISav: + $GPRMC,103449.200,A,4046.0083 07,N,1100000 encoderSpeed: +00000 curr913.672593,W,0.001,48.55,040707,,,A*7entSense: -00014 Velocity Steer: 1 $GPVTG,48.55,T,,M,0.001,N,0.002,Ktarget current +00011 +00010 Gain: ,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103449.400,4046.008307,N,11913Motor1: +00000 +00000 +00000 .672593,W,1,10,0.91,1185.339,M,-20.8 PID: +00008 +00010 +00004 ISav: +33,M,,*66 $GPGSA,A,3,10,16,1 8,21,30,00000 encoderSpeed: +00000 curr07,12,29,05,06,,,1.58,0.91,1.29*0F entSense: -00015 Velocity Steer:$GPGSV,3,1,11,06,87,356,34,07,77,313, target current +00011 +00009 Gain:34,24,74,000,22,21,49,275,39*75 $GPG Kp Kd Ki +00015 +00000 +00001 miSV,3,2,11,10,35,049,39,30,28,195,40,ndr maxdr maxa dead: +00030 +0020029,23, 105,37,18,22,205,38*77 $GPGSV, +00255 +00010 3,3,11,16,19,317,32,05,15,184,36,12,06,173,33*4B $GPRMC,103449.400,A,4046.008307,N,11913.672593,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103449.600,4046.008307,N,11913.672593,W,1Motor1: +00000 +00000 +00000 ,10,0.91,1185.340,M,-20.833,M,,*6A PID: +00008 +00010 +00004 ISav: +$GPRMC,103 449.600,A,4046.008307,N,11900000 encoderSpeed: +00000 curr13.672593,W,0.000,48.55,040707,,,A*7entSense: -00015 Velocity Steer: 4 $GPVTG,48.55,T,,M,0.000,N,0.000,K,target current +00011 +00009 Gain: A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103449.800,4046.008307,N,11913.672593,W,1Motor1: +00000 +00000 +00000 ,10,0.91,1185.341,M,-20.833,M,,*65 PID: +00008 +00010 +00004 ISav: +$GPRMC,103449.800,A,4046.0083 07,N,11900000 encoderSpeed: +00000 curr13.672593,W,0.000,48.55,040707,,,A*7AentSense: -00015 Velocity Steer: $GPVTG,48.55,T,,M,0.000,N,0.001,K,target current +00011 +00010 Gain: A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103450.000,4046.008307,N,11913.672593,W,1Motor1: +00000 +00000 +00000 ,10,0.91,1185.341,M,-20.833,M,,*65 PID: +00008 +00010 +00004 ISav: +$GPRMC,103450.000,A,4046.008307,N ,11900000 encoderSpeed: +00000 curr13.672593,W,0.000,48.55,040707,,,A*7AentSense: -00016 Velocity Steer: $GPVTG,48.55,T,,M,0.000,N,0.001,K,target current +00011 +00009 Gain: A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103450.200,4046.008307,N,11913.672593,W,1Motor1: +00000 +00000 +00000,10,0.91,1185.343,M,-20.833,M,,*65 PID: +00008 +00010 +00004 ISav: $GPRMC,103450.200,A,4046.008307, N,119+00000 encoderSpeed: +00000 cur13.672593,W,0.000,48.55,040707,,,A*78rentSense: -00016 Velocity Steer: $GPVTG,48.55,T,,M,0.000,N,0.001,K, target current +00011 +00011 Gain:A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103450.400,4046.008307,N,11913Motor1: +00000 +00000 +00000 .672593,W,1,10,0.91,1185.346,M,-20.83 PID: +00008 +00010 +00004 ISav: 3,M,,*66 $GPGSA,A,3,10,16,18,2 1,30,0+00000 encoderSpeed: +00000 cur7,12,29,05,06,,,1.58,0.91,1.29*0F $rentSense: -00014 Velocity Steer:GPGSV,3,1,11,06,87,356,34,07,77,313,3 target current +00011 +00009 Gain:4,24,74,000,22,21,49,275,39*75 $GPGS Kp Kd Ki +00015 +00000 +00001 miV,3,2,11,10,35,049,39,30,28,195,40,2ndr maxdr maxa dead: +000 30 +002009,23,105,37,18,22,205,38*77 $GPGSV,3 +00255 +00010 ,3,11,16,19,317,31,05,15,184,36,12,06,173,33*48 $GPRMC,103450.400,A,4046.008307,N,11913.672593,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103450.600,4046.008307,N,11913.672593,W,1,10,0.91,1185.348,M,-20.833,M,,*6A $GPRMC,103450.600,A,4046.008307,N,11913.672593,W,0.001,48.55, 040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103450.800,4046.008307,N,11913.672594,W,1Motor1: +00000 +00000 +00000 ,10,0.91,1185.349,M,-20.833,M,,*62 $PID: +00008 +00010 +00004 ISav: +0GPRMC,103450.800,A,4046.008307,N,1 190000 encoderSpeed: +00000 curre13.672594,W,0.000,48.55,040707,,,A*75ntSense: -00015 Velocity Steer: $GPVTG,48.55,T,,M,0.000,N,0.001,K,Atarget current +00011 +00009 Gain: *00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103451.000,4046.008307,N,11913.672594,W,1,10,Motor1: +00000 +00000 +00000 0.91,1185.350,M,-20.833,M,,*63 $GPRMPID: +00008 +00010 +00004 ISav: +0C,103451.000,A,4046.008307,N,11913 .670000 encoderSpeed: +00000 curre2594,W,0.000,48.55,040707,,,A*7C $GntSense: -00017 Velocity Steer: PVTG,48.55,T,,M,0.000,N,0.000,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103451.200,4046.008308,N,11913.672594,W,1Motor1: +00000 +00000 +00000 ,10,0.91,1185.350,M,-20.833,M,,*6E $ PID: +00008 +00010 +00004 ISav: +GPRMC,103451.200,A,4046.008308,N,11910 0000 encoderSpeed: +00000 curr3.672594,W,0.000,48.55,040707,,,A*71 entSense: -00015 Velocity Steer: $GPVTG,48.55,T,,M,0.000,N,0.001,K,Atarget current +00011 +00010 Gain: *00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103451.400,4046.008308,N,11913.Motor1: +00000 +00000 +00000 672593,W,1,10,0.91,1185.351,M,-20.833 PID: +00008 +00010 +00004 ISav: ,M,,*6E $GPGSA,A,3,10,16,18,21,30,07+0 0000 encoderSpeed: +00000 cur,12,29,05,06,,,1.58,0.91,1.29*0F $GrentSense: -00014 Velocity Steer:PGSV,3,1,11,06,87,356,34,07,77,313,34 target current +00011 +00009 Gain:,24,73,000,21,21,49,275,39*71 $GPGSV Kp Kd Ki +00015 +00000 +00001 mi,3,2,11,10,35,049,39,30,28,195,40,29ndr maxdr maxa dead: +00030 + 00200,23,105,37,18,22,205,38*77 $GPGSV,3, +00255 +00010 3,11,16,19,317,31,05,15,184,36,12,06,173,33*48 $GPRMC,103451.400,A,4046.008308,N,11913.672593,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103451.600,4046.008308,N,11913.672592,W,1,10,0.91,1185.353,M,-20.833,M,,*6F $GPRMC,103451.600,A,4046.008308,N,11913.672592,W,0.001,48.55,04070 7,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103451.800,4046.008309,N,11913.672591,W,1,Motor1: +00000 +00000 +00000 10,0.91,1185.356,M,-20.833,M,,*66 $GPID: +00008 +00010 +00004 ISav: +0PRMC,103451.800,A,4046.008309,N,11910000 encoderSpeed: +00000 curr3.672591,W,0.001,48.55,040707,,,A*7E entSense: -00015 Velocity Steer: $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*target current +00011 +00009 Gain: 01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103452.000,4046.008309,N,11913.672590,W,1,Motor1: +00000 +00000 +00000 10,0.91,1185.358,M,-20.833,M,,*62 $GPID: +00008 +00010 +00004 ISav: +PRMC,103452.000,A,4046.008309,N,1191300000 encoderSpeed: +00000 curr.672590,W,0.000,48.55,040707,,,A*75 entSense: -00014 Velocity Steer: $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*target current +00011 +00009 Gain: 01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSen se: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103452.200,4046.008308,N,11913.672588,W,1,10,0.91,1185.361,M,-20.833,M,,*62 $GPRMC,103452.200,A,4046.008308,N,11913.672588,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M ,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: + 00030 +00200 +00255 +00010 $GPGGA,103452.400,4046.008309,N,11913.6Motor1: +00000 +00000 +00000 72587,W,1,10,0.91,1185.363,M,-20.833, PID: +00008 +00010 +00004 ISav: +M,,*68 $GPGSA,A,3,10,16,18,21,30,0700000 encoderSpeed: +00000 cur,12,29,05,06,,,1.58,0.91,1.29*0F $GPrentSense: -00014 Velocity Steer:GSV,3,1,11,06,87,356,34,07,77,313,34, target current +00011 +00010 Gain:24,73,000,20,21,49,275,39*70 $GPGSV, Kp Kd Ki +00015 +00000 +00001 mi3,2,11,10,35,049,39,30,28,195,40,29,ndr maxdr maxa dead: +00030 +0020023,105,36,18,22,205,38*76 $GPGSV,3,3 +00255 +00010 ,1 1,16,19,317,32,05,15,184,36,12,06,173,33*4B $GPRMC,103452.400,A,4046.008309,N,11913.672587,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103452rent +00011 +00 009 Gain: Kp Kd Ki .600,4046.008309,N,11913.672586,W,1,+00015 +00000 +00001 mindr maxdr m10,0.91,1185.365,M,-20.833,M,,*6D $Gaxa dead: +00030 +00200 +00255 +00PRMC,103452.600,A,4046.008309,N,11913010 .672586,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103452.800,4046.008308,N,11913.672585,W,1,10,0Motor1: +00000 +00000 +00000 .91,1185.366,M,-20.833,M,,*62 $GPRMCPID: +00008 +00010 +00004 ISav: +,103452.800,A,4046.008308,N,11913.67200000 encoderSpeed: +00000 curr585,W,0.001,48.55,040707,,,A*79 $GPentSense: -00016 Velocity Steer: VTG,48.55,T,,M,0.001,N,0.001,K,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: - 00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103453.000,4046.008308,N,11913.672583,W,1,10,0.91,1185.368,M,-20.833,M,,*63 $GPRMC,103453.000,A,4046.008308,N,11913.672583,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.003,K ,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity St eer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103453.200,4046.008307,N,11913.672581,W,1,10,0.91,1185.370,M,-20.833,M,,*65 $GPRMC,103453.200,A,4046.008307,N,11913.672581,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K, A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity St eer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103453.400,4046.008307,N,11913.672580,W,1,10,0.91,1185.372,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,356,34,07,77,313 ,34,24,73,000,21,21,49,275,39*71 $GPGSV,3,2,11,10,35,049,39,30,28,195,40,29,23,105,36,18,22,205,38*76 $GPGSV,3,3,11,16,19,317,32,05,15,184,36,12,06,173,33*4B $GPRMC,103453.400,A,4046.008307,N,11913.672580,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,Motor1: +00000 +00000 +00000 N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0 0000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103453.600,4046.008307,N,11913.672580,W,1,10,0.91,1185.374,M,-20.833,M,,*64 Motor1: +00000 +00000 +00000 $GPRMC,103453.600,A,4046.008307,N,11PID: +00008 +00010 +00004 ISav: +913.672580,W ,0.000,48.55,040707,,,A*700000 encoderSpeed: +00000 currD $GPVTG,48.55,T,,M,0.000,N,0.001,KentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103453.8010 00,4046.008307,N,11913.6 72580,W,1,10,0.91,1185.375,M,-20.833,M,,*6B $GPRMC,103453.800,A,4046.008307,N,11913.672580,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GPGGA,103454.000,4046.008307,N,11913.672581,W,1,10,0.91,1185.375,M,-20.833,M,,*65 $GPRMotor1: +00000 +00000 +00000 MC,103454.000,A,4046.008307,N,11913.PID: +00008 +00010 +00004 ISav: +672581,W,0. 001,48.55,040707,,,A*7C 00000 encoderSpeed: +00000 curr$GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -0001 4 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103454.200,4046.008307,N,11913.672580,W,1,10,0.91,1185.375,M,-20.833,M,,*66 $GPRMotor1: +00000 +00000 +00000 MC,103454.200,A,4046.008307,N,11913.6PID: +00008 +00010 +00004 ISav: +072580,W,0.00 1,48.55,040707,,,A*7F $0000 encoderSpeed: +00000 currGPVTG,48.55,T,,M,0.001,N,0.002,K,A*02entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103454.400,4046.008308,N,11913.672580,W,1,10,0.91,1185.376,M,-20.833,M,Motor1: +00000 +00000 +00000 ,*6C $GPGSA,A,3,10,16,18,21,30,07,1PID: +00008 +00010 +00004 ISav: +2,29,05,06,,,1 .58,0.91,1.29*0F $GPGS00000 encoderSpeed: +00000 currV,3,1,11,06,87,357,34,07,77,312,34,24entSense: -00015 Velocity Steer: ,73,000,21,21,49,275,39*71 $GPGSV,3target current +00011 +00010 Gain: ,2,11,10,35,049,39,30,28,195,40,29,23Kp Kd Ki +00015 +00000 +00001 min,105,36,18,22,205,38*76 $GPGSV,3,3,11,16,19,317,32 ,05,15,184,36,12,06,173,33*4B $GPRMC,103454.400,A,4046.008308,N,11913.672580,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp K d Ki$GPGGA,10345 +00015 +00000 +00001 mindr maxdr4.600,4046.008308,N,11913.672580,W,1 maxa dead: +00030 +00200 +00255 +,10,0.91,1185.378,M,-20.833,M,,*60 $GPRMC,103454.600,A,4046.008308,N,11913.672580,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 00010 Motor1: +00000 +00000 +00000 PI D: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103454.800,4046.008308,N,11913.672579,W,1,10,0.91,1185.381,M,-20.833,M,,*6E $GPRMotor1: +00000 +00000 +00000 MC,103454.800,A,4046.008308,N,11913.6 P ID: +00008 +00010 +00004 ISav: +72579,W,0.000,48.55,040707,,,A*7D $00000 encoderSpeed: +00000 currGPVTG,48.55,T,,M,0.000,N,0.001,K,A*00entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103455.000,4046.008309,N,11913.672579,W,1,10,0.91,1185.382,M,-20.833,M,,*65 $GPRMC,103455.000,A,4046.008309,N,11913.672579,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0. 001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: targ et current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103455.200,4046.008309,N,11913.672579,W,1,10,0.91,1185.384,M,-20.833,M,,*6Motor1: +00000 +00000 +00000 1 $GPRMC,103455.200,A,4046.008309,N, PID: +00008 +00010 +00004 ISav: +11913.672579,W,0. 000,48.55,040707,,,00000 encoderSpeed: +00000 currA*77 $GPVTG,48.55,T,,M,0.000,N,0.001entSense: -00015 Velocity Steer: ,K,A*00 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -0001 6 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103455.400,4046.008308,N,11913.672578,W,1,10,0.91,1185.386,M,-20.833,M,,*65 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,357,34,0 7,77,312,34,24,73,000,20,21,49,275,39*70 $GPGSV,3,2,11,10,35,049,39,30,28,195,40,29,23,105,36,18,22,205,39*77 $GPGSV,3,3,11,16,19,317,32,05,15,184,36,12,06,173,32*4A $GPRMC,103455.400,A,4046.008308,N,11913.672578,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.0Motor1: +00000 +00000 +00000 01,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0000 0 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103455.600,4046.008307,N,11913.672576,W,1,10,0.91,1185.389,M,-20.833,M,,*69 $GPRMC,103455.600,A,4046.008307,N,11913.672576,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,, M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: K p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103455.800,4046.008307,N,11913.672575,W,1,10,0.91,1185.391,M,-20.833,M,,*6D $GPRMC,10Motor1: +00000 +00000 +00000 3455.800,A,4046.008307,N,11913.67257 PID: +00008 +00010 +00004 ISav: +5,W,0.000,48.55,040 707,,,A*7F $GPVTG00000 encoderSpeed: +00000 curr,48.55,T,,M,0.000,N,0.000,K,A*01 entSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103456.000,4046.008306,N,11913.672574,W,1,10,0.91,1185.392,M,-20.833,M,,*65 $GPRMC,103456.000,A,4046.008306,N,11913.672574,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur rent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103456.200,4046.008307,N,11913.672572,W,1,10,0.91,1185.393,M,-20.833,M,,*61 $GPRMC,10Motor1: +00000 +00000 +00000 3456.200,A,4046.008307,N,11913.67257PID: +00008 +00010 +00004 ISav: +2,W,0.000,48.55,040707,, ,A*71 $GPVTG00000 encoderSpeed: +00000 curr,48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Ste er: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 $GPGGA,103456.400,4046.008307,N,11913.672570,W,1,10,0.91,1185.394,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,357,34,07,77,312,34,24,73,000, 20,21,49,275,39*70 $GPGSV,3,2,11,10,35,049,39,30,28,195,40,29,23,105,36,18,22,205,39*77 $GPGSV,3,3,11,16,19,317,32,05,15,184,36,12,06,173,32*4A $GPRMC,103456.400,A,4046.008307,N,11913.672570,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0Motor1: +00000 +00000 +00000 .001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSen se: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103456.600,4046.008307,N,11913.672570,W,1,10,0.91,1185.395,M,-20.833,M,,*61 $GPRMCMotor1: +00000 +00000 +00000 ,103456.600,A,4046.008307,N,11913.672PID: +00008 +00010 +00004 ISav: +0570,W,0.000,48.55,04 0707,,,A*77 $GP0000 encoderSpeed: +00000 currVTG,48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +002 00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103456.8000010 ,4046.008308,N,11913.672 569,W,1,10,0.91,1185.394,M,-20.833,M,,*69 $GPRMC,103456.800,A,4046.008308,N,11913.672569,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103457.000,4046.008308,N,11913.672568,W,1,10,0.91,1185.394,M,-20.833,M,,*61 $GPRMCMotor1: +00000 +00000 +00000 ,103457.000,A,4046.008308,N,11913.672 PID: +00008 +00010 +00004 ISav: +568,W,0.000,48.55,040707 ,,,A*76 $GP00000 encoderSpeed: +00000 currVTG,48.55,T,,M,0.000,N,0.000,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity St eer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +002$GPGGA,103457.200,4046.008309,N,11913.672569,W,1,10,0.91,1185.394,M,-20.833,M,,*63 $GPRMC,103457.200,A,4046.008309,N,11913.672569,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103457.400,4046.008310,N,11913.672569,W,1,10,0.91,1185.395,M,-20.833,M,,*Motor1: +00000 +00000 +00000 6C $GPGSA,A,3,10,16,18,21,30,07,12,2 PID: +00008 +00010 +00004 ISav: +9,05,06,,,1.58,0.91,1.29*0F $GPGSV,300000 encoderSpeed: +00000 curr,1,11,06,87,357,34,07,77,312,34,24,7entSense: -00015 Velocity Steer: 3,000,18,21,49,275,39*7B $GPGSV,3,2target current +00011 +00010 Gain: ,11,10,35,049,39,30,28,195,40,29,23,1Kp Kd Ki +00015 +00000 +00001 min05,36,18,22,205,38*76 $GPGSV,3,3,11,dr maxdr maxa dead: +00030 +00200 16,19,317,32,05,15,184,36,12,06 ,173,32*4A $GPRMC,103457.400,A,4046.008310,N,11913.672569,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGA,103457.600rent +00011 +00010 Gain: Kp Kd Ki ,4046.008310,N,11913.672568,W,1,10,0.+00015 +00000 +00001 mindr maxdr m91,1185.395,M,-20.833,M,,*6F $GPRMC,axa dead: +00030 +00200 +00255 +00103457.600,A,4046.008310,N,11913.672568,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103457.800,4046.008310,N,11913.672567,W,1,10,0.91,1185.397,M,-20.833,M,,*6C $GPRMC,Motor1: +00000 +00000 +00000 103457.800,A,4046.008310,N,11913.6725PID: +00008 +00010 +00004 ISav: +067,W,0.000,48 .55,040707,,,A*78 $GPV0000 encoderSpeed: +00000 currTG,48.55,T,,M,0.000,N,0.000,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Veloci ty Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +002$GPGGA,103458.000,4046.008309,N,11913.672566,W,1,10,0.91,1185.401,M,-20.833,M,,*6A $GPRMC,103458.000,A,4046.008309,N,11913.672566,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +0008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00 011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103458.200,4046.008309,N,11913.672566,W,1,10,0.91,1185.404,M,-20.8Motor1: +00000 +00000 +00000 33,M,,*6D $GPRMC,103458.200,A,4046.PID: +00008 +00010 +00004 ISav: +008309,N,11913.672566,W,0.000,4 8.55,000000 encoderSpeed: +00000 curr40707,,,A*74 $GPVTG,48.55,T,,M,0.00entSense: -00016 Velocity Steer: 0,N,0.000,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Vel ocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103458.400,4046.008310,N,11913.672565,W,1,10,0.91,1185.406,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,357,34,07,77,312,34,24,73,000,18,21 ,49,275,39*7B $GPGSV,3,2,11,10,35,049,39,30,28,195,41,29,23,105,36,18,22,205,38*77 $GPGSV,3,3,11,16,19,317,32,05,15,184,37,12,06,173,31*48 $GPRMC,103458.400,A,4046.008310,N,11913.672565,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103458.600,4046.008312,N,11913.672564,W,1,10,0.91,1185.408,M,-20.833,M,,*6D Motor1: +00000 +00000 +00000 $GPRMC,103458.600,A,4046.008312,N,11PID: +00008 +00010 +00004 ISav: +913.672564,W,0.000,48.55,040707,,, A*700000 encoderSpeed: +00000 curr8 $GPVTG,48.55,T,,M,0.000,N,0.001,K,entSense: -00014 Velocity Steer: A*00 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103458.800,4046.008313,N,11913.672564,W,1,10,0.91,1185.408,M,-20.833,M,,*62 $GPRMC,1Motor1: +00000 +00000 +00000 03458.800,A,4046.008313,N,11913.6725PID: +00008 +00010 +00004 ISav: +64,W,0.000,48.55,040707,,,A*77 $GPVT00000 encoderSpeed: +00000 currG,48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +0025$GPGGA,103459.000,4046.008313,N,11913.672564,W,1,10,0.91,1185.409,M,-20.833,M,,*6A $GPRMC,103459.000,A,4046.008313,N,11913.672564,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103459.200,4046.008314,N,11913.672563,W,1,10,0.91,1185.410,M,-20.833,M,,*60 $GPRMC,10345Motor1: +00000 +00000 +00000 9.200,A,4046.008314,N,11913.672563,W PID: +00008 +00010 +00004 ISav: +,0.000,48.55,040707,,,A*7C $GPVTG, 4800000 encoderSpeed: +00000 curr.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curren t +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103459.400,4046.008314,N,11913.672562,W,1,10,0.91,1185.410,M,-20.833,M,,*67 $GMotor1: +00000 +00000 +00000 PGSA,A,3,10,16,18,21,30,07,12,29,05,PID: +00008 +00010 +00004 ISav: +06,,,1.58,0.91,1.29*0F $GPGSV,3,1,1100 000 encoderSpeed: +00000 curr,06,87,357,34,07,77,312,34,24,73,000entSense: -00015 Velocity Steer: ,18,21,49,275,39*7B $GPGSV,3,2,11,10target current +00011 +00009 Gain: ,35,049,39,30,28,195,41,29,23,105,36,Kp Kd Ki +00015 +00000 +00001 min18,22,205,38*77 $GPGSV,3,3,11,16,19dr maxdr maxa dead: +000 30 +00200 ,317,30,05,15,184,37,12,06,173,29*43 $GPRMC,103459.400,A,4046.008314,N,11913.672562,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 $GPGGA,103459.600,4046.008314,N,11913.672562,W,1,10,0.91,1185.411,M,-20.833,M,,*64 $GPRMC,103459.600,A,4046.008314,N,11913.672562,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0. 000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103459.800,4046.008314,N,11913.672562,W,1,10,0.91,1185.411,M,-20.833,M,,*6A $GPRMC,10Motor1: +00000 +00000 +00000 3459.800,A,4046.008314,N,11913.67256 PID: +00008 +00010 +00004 ISav: +2,W,0.000,48.55,040707,,,A*77 $GPVTG0 0000 encoderSpeed: +00000 curr,48.55,T,,M,0.000,N,0.000,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curren t +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103500.000,4046.008314,N,11913.672563,W,1,10,0.91,1185.411,M,-20.833,M,,*6E $GPRMC,10Motor1: +00000 +00000 +00000 3500.000,A,4046.008314,N,11913.67256 PID: +00008 +00010 +00004 ISav: +3,W,0.001,48.55,040707,,,A*72 $GPVTG0 0000 encoderSpeed: +00000 curr,48.55,T,,M,0.001,N,0.001,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curren t +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103500.200,4046.008315,N,11913.672563,W,1,10,0.91,1185.410,M,-20.833,M,,*6C $GPRMC,10Motor1: +00000 +00000 +00000 3500.200,A,4046.008315,N,11913.67256 PID: +00008 +00010 +00004 ISav: +3,W,0.001,48.55,040707,,,A*71 $GPVTG 00000 encoderSpeed: +00000 curr,48.55,T,,M,0.001,N,0.001,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target curre nt +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 3500.400,4046.008315,N,11913.672564,W,1,10,0.91,1185.409,M,-20.833,M,,*65 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,357,34,07,77,312,34,24,73,000,18,21,49,275,39*7B $GP GSV,3,2,11,10,35,049,39,30,28,195,41,29,23,105,36,18,22,205,38*77 $GPGSV,3,3,11,16,19,317,29,05,15,184,37,12,06,173,28*4A $GPRMC,103500.400,A,4046.008315,N,11913.672564,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.00Motor1: +00000 +00000 +00000 1,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103500.600,4046.008315,N,11913.672564,W,1,10,0.91,1185.409,M,-20.833,M,,*67 $GPRMC,10Motor1: +00000 +00000 +00000 3500.600,A,4046.008315,N,11913.67256PID: +00008 +00010 +00004 ISav: +04,W,0.000,48.55,040707,,,A*73 $GPVTG0000 encoderSpeed: +00000 curr,48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103500.800,4046.0010 08316,N,11913.672565,W,1,10,0.91,1185.409,M,-20.833,M,,*6B $GPRMC,103500Motor1: +00000 +00000 +00000 .800,A,4046.008316,N,11913.672565,W,0PID: +00008 +00010 +00004 ISav: +.001,48.55,040707,,,A*7E $GPVTG,48.500000 encoderSpeed: +00000 curr5,T,,M,0.001,N,0.001,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103501.000,4046.008318,N,11913.672566,W,1,10,0.91,1185.410,M,-20.833,M,,*67 $GPRMC,103501.000,A,4046.008318,N,11913.672566,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103501.200,4046.008318,N,11913.672567,W,1,10,0.91,1185.410,M,-20.833,M,,*64 $GPRMC,103501.200,A,4046.008318,N,11913.672567Motor1: +00000 +00000 +00000 ,W,0.001,48.55,040707,,,A*79 $GPVTG, PID: +00008 +00010 +00004 ISav: +48.55 ,T,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current + 00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,1035 +00255 +00010 01.400,4046.008318,N,11913.672568,W,1,10,0.91,1185.410,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,30,07,12,29,0Motor1: +00000 +00000 +00000 5,06,,,1.58,0.91,1.29*0F $GPGSV,3,1, PID: +00008 +00010 +00004 ISav: +11,06 ,87,357,34,07,77,312,34,24,73,000000 encoderSpeed: +00000 curr00,18,21,49,275,39*7B $GPGSV,3,2,11,entSense: -00014 Velocity Steer: 10,35,049,39,30,28,195,41,29,23,105,3target current +00011 +00010 Gain: 6,18,22,205,38*77 $GPGSV,3,3,11,16,1Kp Kd Ki +00015 +00000 +00001 min9,317,29,05,15,184,37,12,06,173,29*4dr maxdr maxa dead: +00030 +00200 +00255 +00010 B $GPRMC,103501.400,A,4046.008318,N,11913.672568,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103501.600,404-00015 Velocity Steer: target cur6.008319,N,11913.672567,W,1,10,0.91,1rent +000 11 +00009 Gain: Kp Kd Ki 185.410,M,-20.833,M,,*61 $GPRMC,1035+00015 +00000 +00001 mindr maxdr m01.600,A,4046.008319,N,11913.672567,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGG A,103501.800,4046.00+00255 +00010 8319,N,11913.672567,W,1,10,0.91,1185.411,M,-20.833,M,,*6E $GPRMC,103501.800,A,4046.008319,N,11913.672567,W,0.Motor1: +00000 +00000 +00000 000,48.55,040707,,,A*73 $GPVTG,48.5PID: +00008 +00010 +00004 ISav: +05,T,,M,0.000,N,0.000,K,A*01 0000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +0000 9 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103502.000,4046.00+00255 +00010 8319,N,11913.672566,W,1,10,0.91,1185.411,M,-20.833,M,,*64 $GPRMC,103502.000,A,4046.008319,N,11913.672566,W,0.Motor1: +00000 +00000 +00000 000,48.55,040707,,,A*79 $GPVTG,48.55PID: +00008 +00010 +00004 ISav: +,T,,M,0.000,N,0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +0 0008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103502.200,4046.008318,N,11913.672566,W,1,10,0.91,1185.410,M,-20.833,M,,*66 $GPRMC,103502.200,A,4046.008318,N,11913.672566,W,0.Motor1: +00000 +00000 +00000 000,48.55,040707,,,A*7A $GPVTG,48.55PID: +00008 +00010 +00004 ISav: +0,T,,M,0 .000,N,0.000,K,A*01 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10350+00255 +00010 2.400,4046.008319,N,11913.672567,W,1,10,0.91,1185.411,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,12,29,05Motor1: +00000 +00000 +00000 ,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,1PID: +00008 +00010 +00004 ISav: +1,06,87,3 57,34,07,77,312,34,24,73,0000000 encoderSpeed: +00000 curr0,19,21,49,275,38*7B $GPGSV,3,2,11,1entSense: -00015 Velocity Steer: 0,35,049,39,30,28,195,41,29,23,105,35target current +00011 +00011 Gain: ,18,22,205,38*74 $GPGSV,3,3,11,16,1Kp Kd Ki +00015 +00000 +00001 min9,317,30,05,15,184,37,12,06,173,27*4Ddr maxdr maxa d ead: +00030 +00200 +00255 +00010 $GPRMC,103502.400,A,4046.008319,N,11913.672567,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103502.600,4046-00016 Velocity Steer: target cur.008319,N,11913.672568,W,1,10,0.91,11rent +00011 +0 0009 Gain: Kp Kd Ki 85.411,M,-20.833,M,,*6C $GPRMC,10350+00015 +00000 +00001 mindr maxdr m2.600,A,4046.008319,N,11913.672568,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,1 03502.800,4046+00255 +00010 .008320,N,11913.672569,W,1,10,0.91,1185.412,M,-20.833,M,,*6A $GPRMC,10350Motor1: +00000 +00000 +00000 2.800,A,4046.008320,N,11913.672569,W,0.001,48.55,040707,,,A*75 $GPVTG,48PID: +00008 +00010 +00004 ISav: +0.55,T,,M,0.001,N,0.002,K,A*02 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103503.000,4046+00255 +00010 .008321,N,1 1913.672570,W,1,10,0.91,1185.413,M,-20.833,M,,*6B $GPRMC,103503.000,A,4046.008321,N,11913.672570,WMotor1: +00000 +00000 +00000 ,0.001,48.55,040707,,,A*75 $GPVTG,48PID: +00008 +00010 +00004 ISav: +0.55,T,,M,0.001,N,0.003,K,A*03 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curr ent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 .008321,N,11913.672571,W,1,10,0.91,1185.414,M,-20.833,M,,*6F $GPRMC,103503.200,A,4046.008321,N,11913.672571,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: tar get current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10350+00255 +00010 3.400,4046.008322,N,11913.672572,W,1,10,0.91,1185.414,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,357,34,07,77,312,33,24,73,000,18,21,49,275,38*7D $GPGSV,3,2,11,10, 35,049,39,30,28,195,41,29,23,105,34,18,22,205,38*75 $GPGSV,3,3,11,16,19,317,32,05,15,184,37,12,06,173,31*48 $GPRMC,103503.400,A,4046.008322,N,11913.672572,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target c urrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103503.600,4046. +00255 +00010 008322,N,11913.672572,W,1,10,0.91,1185.416,M,-20.833,M,,*69 $GPRMC,103503.600,A,4046.008322,N,11913.672572,WMotor1: +00000 +00000 +000,0.000,48.55,040707,,,A*73 $GPVTG,4800 PID: +00008 +00010 +00004 ISav.55,T,,M,0.000,N ,0.001,K,A*00 : +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103503.800,4046.+00255 +00010 008322,N,11913.672571,W,1,10,0.91,1185.418,M,-20.833,M,,*6A $GPRMC,103503.800,A,4046.008322,N,11913.6725 71,W,Motor1: +00000 +00000 +00000 0.001,48.55,040707,,,A*7F $GPVTG,48PID: +00008 +00010 +00004 ISav: +.55,T,,M,0.001,N,0.001,K,A*01 00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00 010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103504.000,4046.+00255 +00010 008322,N,11913.672571,W,1,10,0.91,1185.420,M,-20.833,M,,*6E $GPRMC,103504.000,A,4 046.008322,N,11913.672571,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: targe t current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103504.20+00255 +00010 0,4046.008323,N,11913.672572,W,1,10,0.91,1185.422,M,-20.833,M,,*6C $GPRMC,103504.200,A,4046.008323,N,11913.67Motor1: +00000 +00000 +00000 2572,W,0.000,48.55,040707,,,A*71 $GPID: +00008 +00010 +00004 ISav: +0PVTG,48.55,T,,M,0.00 0,N,0.000,K,A*01 0000 encoderSpeed: +00000 curr entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103504+00255 +00010 .400,4046.008324,N,11913.672573,W,1,10,0.91,1185.424,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,357,34,07,77,312,33,24,73,000,18,21,49,275,38*7D $GPGSV,3,2,11,10,35,049, 39,30,28,195,41,29,23,105,34,18,22,205,38*75 $GPGSV,3,3,11,16,19,317,31,05,15,184,37,12,06,173,34*4E $GPRMC,103504.400,A,4046.008324,N,11913.672573,W,0.001,48.55,040707,,,A*70 $GPVT,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target c urrent +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103504.600,4046.0+00255 +00010 08326,N,11913.672573,W,1,10,0.91,1185.425,M,-20.833,M,,*6B $GPRMC,103504.600,A,4046.008326,N,11913.672573,W,Motor1: +00000 +00000 +00000 0.001,48.55,040707,,,A*70 $GPVTG,48. PID: +00008 +00010 +00004 ISav: +55,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 + 00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103504.800,4046.0 +00255 +00010 08326,N,11913.672574,W,1,10,0.91,1185.427,M,-20.833,M,,*60 $GPRMC,103504.800,A,40 46.008326,N,11913.672574,W,Motor1: +00000 +00000 +00000 0.000,48.55,040707,,,A*78 $GPVTG,48.PID: +00008 +00010 +00004 ISav: +055,T,,M,0.000,N,0.001,K,A*00 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 + 00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103505.000,4046.00832+00255 +00010 6,N,11913.672575,W,1,10,0.91,1185.429,M,-20.833,M,,*66 $GPRMC,103505.000,A,4046.008326,N,11913.672575,W,0.001Motor1 : +00000 +00000 +00000 ,48.55,040707,,,A*71 $GPVTG,48.55,TPID: +00008 +00010 +00004 ISav: +0,,M,0.001,N,0.001,K,A*01 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103505.200,4046.0+00255 +00010 08326,N,11913.672575,W,1,10,0.91,1185.431,M,-20.833,M,,*6D $GPRMC,103505.200,A,4046.008326,N,11913.672575,W,0Motor1: +00000 +00000 +00000 .000,48.55,04070 7,,,A*72 $GPVTG,48.5 PID: +00008 +00010 +00004 ISav: +5,T,,M,0.000,N,0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103505.400,4046.008326,N,11913.672575,W,1,10,0.91,1185.434,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06Motor1: +00000 +00000 +00000 ,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,PID: +00008 +00010 +00004 ISav: +006,87,357,34,07,77,312,33 ,24,73,000,10000 encoderSpeed: +00000 curr8,21,49,275,38*7D $GPGSV,3,2,11,10,3entSense: -00014 Velocity Steer: 5,049,39,30,28,195,41,29,23,105,34,18target current +00011 +00010 Gain: ,22,205,38*75 $GPGSV,3,3,11,16,19,3Kp Kd Ki +00015 +00000 +00001 min17,32,05,15,184,37,12,06,173,34*4D $dr maxdr maxa dead: +00030 +00200 GPRMC,103505.400,A,4046.008326 ,N,11913.672575,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103505.600,4046.0-00015 Velocity Steer: target cur08327,N,11913.672576,W,1,10,0.91,1185rent + 00011 +00010 Gain: Kp Kd Ki .436,M,-20.833,M,,*6C $GPRMC,103505+00015 +00000 +00001 mindr maxdr m.600,A,4046.008327,N,11913.672576,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103505.800,4046.00+00255 +00010 8328,N,11913.672576,W,1,10,0.91,1185.437,M,-20.833,M,,*6C $GPRMC,103505.800,A,4046.008328,N,11913.672576,W,0Motor1: +00000 +00000 +00000 .001,48.55,040707,,,A*74 $GPVTG,48.5 PID: +00008 +00010 +00004 ISav: 5,T,,M,0.001,N, 0.001,K,A*01 +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curren t +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103506.000,4046.00 +00255 +00010 8329,N,11913.672577,W,1,10,0.91,1185.439,M,-20.833,M,,*69 $GPRMC,103506.000,A,4046.008329,N,11913.672577,W,0Motor1: +00000 +00000 +00000 .001,48.55,040707,,,A*7F $GPVTG,48.5PID: +00008 +00010 +00004 ISav: +5,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00 011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103506.200,4046.00+00255 +00010 8330,N,11913.672577,W,1,10,0.91,1185.441,M,-20.833,M,,*6C $GPRMC,103506.200,A,4046.008330,N,11913.672577,W,0.Motor1: +00000 +00000 +00000 000,48.55,040707,,,A*74 $GPVTG,48.5PID: +00008 +00010 +00004 ISav: +05,T,,M,0.000,N,0.001,K,A*00 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 00,4046.008331,N,11913.672578,W,1,10,0.91,1185.443,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,1.58,0.91,1.29*0F $GPGSV,3,1,11,06,87,357,34,07,77,312,33,24,73,000,18,21,49,275,38*7D $GPGSV,3,2,11,10,35,049,39,30,28, 195,40,29,23,105,34,18,22,205,39*75 $GPGSV,3,3,11,16,19,317,32,05,15,184,38,12,06,173,33*45 $GPRMC,103506.400,A,4046.008331,N,11913.672578,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +0 0011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103506.600,4046.00+00255 +00010 8332,N,11913.672578,W,1,10,0.91,1185.446,M,-20.833,M,,*62 $GPRMC,103506.600,A,4046.008332,N,11913.672578,W,0.Motor1: +00000 +00000 +00000 001,48.55,040707,,,A*7C $GPVTG,48.55 PID: +00008 +00010 +00004 ISav: +,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +0000 0 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103506.800,4046.008+00255 +00010 334,N,11913.672578,W,1,10,0.91,1185.449,M,-20.833,M,,*65 $GPRMC,103506.800,A,4046.008334,N,11913.672578,W,0.Motor1: +000 00 +00000 +00000 001,48.55,040707,,,A*74 $GPVTG,48.55PID: +00008 +00010 +00004 ISav: +,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103507.000,4046+00255 +00010 .008335,N,11913.672577,W,1,10,0.91,1185.451,M,-20.833,M,,*6B $GPRMC,103507.000,A,4046.008335,N,11913.672577,Motor1: +00000 +00000 +00000 W,0.000,48.55,040707,,,A* 72 $GPVTG,4 PID: +00008 +00010 +00004 ISav: +8.55,T,,M,0.000,N,0.000,K,A*01 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $ GPGGA,103507.200,4046.008335,N,11913.672577,W,1,10,0.91,1185.452,M,-20.833,M,,*6A $GPRMC,103507.200,A,4046.008335,N,11913.6725Motor1: +00000 +00000 +00000 77,W,0.001,48.55,040707,,,A*71 $GPVT PID: +00008 +00010 +00004 ISav: +G,48.55,T,,M,0.001,N,0.001,K,A* 01 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10350+00255 +00010 7.400,4046.008337,N,11913.672577,W,1,10,0.91,1185.453,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,12,29,05,Motor1: +00000 +00000 +00000 06,,,1.58,0.91,1.29*0F $GPGSV,3,1,1PID: +00008 +00010 +00004 ISav: +1,06,87,358,34,07,77,312,33,24,73,0 000000 encoderSpeed: +00000 curr0,18,21,49,275,38*72 $GPGSV,3,2,11,1entSense: -00016 Velocity Steer: 0,35,049,39,30,28,195,40,29,23,105,34target current +00011 +00010 Gain: ,18,22,205,39*75 $GPGSV,3,3,11,16,1Kp Kd Ki +00015 +00000 +00001 min9,317,32,05,15,184,38,12,06,173,33*45dr maxdr maxa dead: +00030 +00200 +0 0255 +00010 $GPRMC,103507.400,A,4046.008337,N,11913.672577,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103507.600,4046.008-00014 Velocity Steer: target cur337,N,119 13.672578,W,1,10,0.91,1185.4rent +00011 +00009 Gain: Kp Kd Ki 53,M,-20.833,M,,*62 $GPRMC,103507.6+00015 +00000 +00001 mindr maxdr m00,A,4046.008337,N,11913.672578,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cu rrentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103507.800,4046.0083+00255 +00010 38,N,11913.672580,W,1,10,0.91,1185.454,M,-20.833,M,,*63 $GPRMC,103507.800,A,4046.008338,N,11913.672580,W,0.0Motor1: +00000 +00000 +00000 01,48.55,040707,,,A*7E $GPVTG,48.55,PID: +00008 +0 0010 +00004 ISav: +T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: tar get current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 046.008339,N,11913.672581,W,1,10,0.91,1185.455,M,-20.833,M,,*65 $GPRMC,103508.000,A,4046.008339,N,11913.672581,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00 000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103508.200,4046.0083 +00255 +00010 40,N,11913.672582,W,1,10,0.91,1185.457,M,-20.833,M,,*68 $GPRMC,103508.200,A,4046.008340,N,11913.672582,W,0.0Motor1: +00000 +00000 +00000 01,48.55,040707,,,A*76 $GPVTG,48.55,PID: +00008 +00010 +00004 ISav: +T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 + 00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103508.40+00255 +00010 0,4046.008341,N,11913.672582,W,1,10,0.91,1185.458,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30,07,12,29,05,06,,,Motor1: +00000 +00000 +00000 1.57,0.91,1.29*00 $GPGSV,3,1,11,06,PID: +00008 +00010 +00004 ISav: +087,358,34,07,77,312,33,24,73,000,17, 0000 encoderSpeed: +00000 curr21,49,275,38*7D $GPGSV,3,2,11,10,35,entSense: -00016 Velocity Steer: 049,39,30,28,195,40,29,23,105,33,18,target current +00011 +00009 Gain: 22,205,39*72 $GPGSV,3,3,11,16,19,317Kp Kd Ki +00015 +00000 +00001 min,32,05,15,184,38,12,06,173,34*42 $GPdr maxdr maxa dead: +00030 +00200 +00255 +00010 RMC,103508.400,A,4046.008341,N,11913.672582,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,10-00015 Velocity Steer: target cur3508.600,4046.008341,N,11913.672582, rent +00011 +00010 Gain: Kp Kd Ki W,1,10,0.92,1185.457,M,-20.833,M,,*6+00015 +00000 +00001 mindr maxdr mE $GPRMC,103508.600,A,4046.008341,N,axa dead: +00030 +00200 +00255 +00010 11913.672582,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense : -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGdr maxdr maxa dead: +00030 +00200 A,103508.800,4046.008341,N,11913.6725+00255 +00010 84,W,1,9,0.92,1185.457,M,-20.833,M,,*5E $GPRMC,103508.800,A,4046.008341,N,11913.672584,W,0.001,48.55,040707,Motor1: +00000 +00000 +00000 ,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.0PID: +0000 8 +00010 +00004 ISav: +01,K,A*01 00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curr ent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103509.000,4046.008341,N,11+00255 +00010 913.672584,W,1,9,0.92,1185.456,M,-20.833,M,,*56 $GPRMC,103509.000,A,4046.008341,N,11913.672584,W,0.000,48.55,Motor1: +00000 +00000 +00000 040707,,,A*73 $GPVTG,48.55,T,,M,0.00PID: +00008 +00010 +00004 ISav: +0,N,0.001,K,A*00 00 000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103509.200,4046.00834+00255 +00010 1,N,11913.672584,W,1,10,0.86,1185.456,M,-20.833,M,,*69 $GPRMC,103509.200,A,4046.008341,N,11913.672584,W,0.000Motor1: +00000 +00000 +00000 ,48.55,040707,,,A*71 $GPVTG,48.55,T PID: +00008 +00010 +00004 ISav: +,,M,0.000,N,0.001,K,A*00 00000 en coderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +0000 0 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103509.400+00255 +00010 ,4046.008340,N,11913.672584,W,1,10,0.86,1185.454,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,Motor1: +00000 +00000 +00000 87,358,34,07,77,312,33,24,73,000,17,2PID: +00008 +00010 +00004 ISav: +1,49,2 75,38*7D $GPGSV,3,2,11,10,35,000000 encoderSpeed: +00000 curr49,39,30,28,195,40,29,23,105,33,18,2entSense: -00015 Velocity Steer: 2,205,39*72 $GPGSV,3,3,11,16,19,317,target current +00011 +00010 Gain: 32,26,18,120,37,05,15,184,38*4F $GPRMC,103509.400,A,4046.008340,N,11913.672584,W,0. 000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curr$GPGGA,103509.600,4046.00833ent +00011 +00009 Gain: Kp Kd Ki 9,N,11913.6725 84,W,1,10,0.86,1185.45+00015 +00000 +00001 mindr maxdr m4,M,-20.833,M,,*60 $GPRMC,103509.600axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min,A,4046.008339,N,11913.672584,W,0.00 0,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103509.800,4046.00833dr maxdr maxa dead: +00030 +0 0200 9,N,11913.672584,W,1,10,0.86,1185.45+00255 +00010 3,M,-20.833,M,,*69 $GPRMC,103509.800,A,4046.008339,N,11913.672584,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,Motor1: +00000 +00000 +00000 ,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Vel ocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103510.000,4046.008338,N,11913.672584,W,1,10,0.86,1185.453,M,-20.833,M,,*68 $GPRMC,103510.000,A,4046.008338,N,11913.672584,W,0.000,48.55,040707,,,A*75 $GPVTG,48.5Motor1: +00000 +00000 +00000 5,T,,M,0.000,N,0.001,K,A*00 PID: +00 008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGG A,103510.200,4046.008338,N,11913.672584,W,1,10,0.86,1185.453,M,-20.833,M,,*6A $GPRMC,103510.200,A,4046.008338,N,11913.672584,W,0.000,48.55,040707,,,A*77 $GPVTG,48.5Motor1: +00000 +00000 +00005,T,,M,0.000,N,0.001,K,A*00 0 PID: +00008 +00010 +00004 ISav: +00000 enc oderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 m$GPGGA,103510.400,4046indr maxdr maxa dead: +00030 +0020.008338,N,11913.672586,W,1,10,0.86,110 +00255 +00010 85.453,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,35Motor1: +00000 +00000 +000008,34,07,77,312,33,24,73,000,16,21,49, PID: +0000 8 +00010 +00004 ISav: 275,38*7C $GPGSV,3,2,11,10,35,049,3+00000 encoderSpeed: +00000 cur9,30,28,195,40,29,23,105,33,18,22,205rentSense: -00015 Velocity Steer:,39*72 $GPGSV,3,3,11,16,19,317,32,26 target current +00011 +00010 Gain:,18,120,38,05,15,184,39*41 $GPRMC,103510.400,A,4046.008338,N,11913.672586,W,0.001,48.55, 040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103510.600,4046.008338rent +00011 +00010 Gain: Kp Kd Ki ,N,11913.672587,W,1,10, 0.86,1185.451+00015 +00000 +00001 mindr maxdr m,M,-20.833,M,,*6F $GPRMC,103510.600,axa dead: +00030 +00200 +00255 +00A,4046.008338,N,11913.672587,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curren t +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103510.800,4046.008339entSense: -00015 Velocity Steer: ,N,11913.672588,W,1,10,0.86,1185.450target current +00011 +00009 Gain: ,M,-20.833,M,,*6E $GPRMC,103510. 800,Kp Kd Ki +00015 +00000 +00001 minA,4046.008339,N,11913.672588,W,0.001,dr maxdr maxa dead: +00030 +00200 48.55,040707,,,A*71 $GPVTG,48.55,T,,+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00M,0.001,N,0.001,K,A*01 030 +00200 +00255 +00010 $GPGGA,103511.000,4046.008339,N,11913.672588,W,1,10,0.86,1185.449,M,-20.833,M,,*6F $GPRMC,103511.000,A,4046.008339,N,11913.672588,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55Motor1: +00000 +00000 +00000 ,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA ,103511.200,4046.008339,N,11913.672587,W,1,10,0.86,1185.449,M,-20.833,M,,*62 $GPRMC,103511.200,A,4046.008339,N,11913.672587,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,Motor1: +00000 +00000 +00000 M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0 0000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Ga in: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103511.400,4dr maxdr maxa dead: +00030 +00200 046.008339,N,11913.672588,W,1,10,0.86+00255 +00010 ,1185.448,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87Motor1: +00000 +00000 +00000 ,358,34,07,77,312,32,24,73,000,15,21, PID: +00008 +00010 +00004 ISav: +49,275,38*7E $GPGSV,3,2,11,10,35,04900000 encoderSpeed: +00000 curr,39,30,28,195,40,29,23,105,33,18,22,entSense: -00015 Velocity Steer: 205,39*72 $GPGSV,3,3,11,16,19,317,32target current +00011 +00010 Gain: ,26,18,120,38,05,15,184,39*41 $GPRMC,103511.400,A,4046.008339,N,11913.672588,W,0.000,48. 55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target c$GPGGA,103511.600,4046.008338,urrent +00011 +00010 Gain: Kp Kd KiN,11913.672587,W,1,10,0.86 ,1185.449, +00015 +00000 +00001 mindr maxdrM,-20.833,M,,*67 $GPRMC,103511.600,A maxa dead: +00030 +00200 +00255 +,4046.008338,N,11913.672587,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103511.800,4046.008337,entSense: -00015 Velocity Steer:N,11913.672587,W,1,10,0.86,1185.450, target current +00011 +00010 Gain:M,-20.833,M,,*6E $GPRMC,103511.800 ,A Kp Kd Ki +00015 +00000 +00001 mi,4046.008337,N,11913.672587,W,0.000,4ndr maxdr maxa dead: +00030 +002008.55,040707,,,A*70 $GPVTG,48.55,T,, +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr max dr maxa dead: +00M,0.000,N,0.001,K,A*00 030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103512.000,4046.008337,N,1dr maxdr maxa dead: +00030 +0 0200 1913.672588,W,1,10,0.86,1185.450,M,-2+00255 +00010 0.833,M,,*6A $GPRMC,103512.000,A,4046.008337,N,11913.672588,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: targ et current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103512.200,4046.008337,Ndr maxdr maxa dead: +00030 +00200 ,11913.672590,W,1,10,0.86,1185.449,M+00255 +00010 ,-20.833,M,,*69 $GPRMC,103512.200,A,4046.008337,N,11913.672590,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,Motor1: +00000 +00000 +00000 M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00 004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103512.400,40dr maxdr maxa dead: +00030 +00200 46.008337,N,11913.672590,W,1,10,0.86,+00255 +00010 1185.449,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,358,34,07,77,312,32,24,73,000,15,21,49,275,37*71 $GPGSV,3,2,11,10,35,049,39,30,28,195,40,29,23,105,33,18,22,205,39*72 $GPGSV,3,3,11,16,19,317,32,26,18,120,38,05,15,184,39*41 $GPRMC,103512.400,A,4046.008337,N,11913.672590,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103512.600,4046.008337,Ndr maxdr maxa dead: +00030 +00200,11913.672591,W,1,10,0.86,1185.449,M +00255 +00010 ,-20.833,M,,*6C $GPRMC,103512.600,A,4046.008337,N,11913.672591,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,MMotor1: +00000 +00000 +00000,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103512.800,4046.008336,Ndr maxdr maxa dead: +00030 +00200 ,11913.672591,W,1,10,0.86,1185.449,M+00255 +00010 ,-20.833,M,,*63 $GPRMC,103512.800,A,4046.008336,N,11913.672591,W, 0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,MMotor1: +00000 +00000 +00000 ,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +0000 4 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103513.000,4046.008335,N,11dr maxdr maxa dead: +00030 +00200 913.672591,W,1,10,0.86,1185.449,M,-20+00255 +00010 .833,M,,*69 $GPRMC,103513.000,A,4046.008335,N,11913.672591,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T ,,M,0.0Motor1: +00000 +00000 +00000 01,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103513.200,4046.008335,N,11dr maxdr maxa dead: +00030 +00200 913.672593,W,1,10,0.86,1185.448,M,-20+00255 +00010 .833,M,,*68 $GPRMC,103513.200,A,4046.008335,N,11913.672593,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.0Motor1: +00000 +00000 +00000 00,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103513.400,4 046.008335,N,11913.672594,W,1,10,0.86,1185.448,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,358,3Motor1: +00000 +00000 +00000 4,07,77,312,32,24,73,000,,21,49,275,3 PID: +00008 +00010 +00004 ISav: +7*75 $GPGSV,3,2,11,10, 35,049,39,30,00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: 28,195,40,29,23,105,33,18,22,205,39*72 $GPGSV,3,3,11,16,19,317,32,26,18,1target current +00011 +00009 Gain: 20,38,05,15,184,39*41 $GPRMC,103513Kp Kd Ki +00015 +00000 +00001 min.400,A,4046.008335,N,11913.672594,W,dr maxdr maxa d ead: +00030 +00200 +00255 +00010 0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103513.600,4046.008333,N,11913.672595,W,1,10,0.86,1185.448,M,-20.833,M,,*6C $GPRMC,103513.600,A,4046.008333,N,11913.672595,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd K i +00015 +00000 +00001 mi$GPGGA,103513.800,4046.008332,N,ndr maxdr maxa dead: +00030 +0020011913.672597,W,1,10,0.86,1185.448,M, +00255 +00010 -20.833,M,,*61 $GPRMC,103513.800,A,4046.008332,N,11913.672597,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,Motor1: +00000 +00000 +00000 0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103514.000,4046.00833dr maxdr maxa dead: +00030 +00200 1,N,11913.672598,W,1,10,0.86,1185.44+00255 +00010 8,M,-20.833,M,,*62 $GPRMC,103514.000,A,4046.008331,N,11913.672598,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,TMotor1: +00000 +00000 +00000 ,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +0 0015 +00000 +00001 min$GPGGA,103514.200,4046.008330,N,dr maxdr maxa dead: +00030 +00200 11913.672599,W,1,10,0.86,1185.447,M,+00255 +00010 -20.833,M,,*6F $GPRMC,103514.200,A,4046.008330,N,11913.672599,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,Motor1: +00000 +00000 +00000 0.000,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103514.400,4046dr maxdr maxa dead: +00030 +00200 .008329,N,11913.672598,W,1,10,0.86,1+00255 +00010 185.446,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,35Motor1: +00000 +00000 +00000 8,34,07,77,312,32,24,73,000,,21,49,27PID: +00008 +00010 +00004 ISa v: +5,37*75 $GPGSV,3,2,11,10,35,049,39,00000 encoderSpeed: +00000 curr30,28,195,40,29,23,105,33,18,22,205,3entSense: -00015 Velocity Steer: 9*72 $GPGSV,3,3,11,16,19,317,32,26,1target current +00011 +00010 Gain: 8,120,38,05,15,184,39*41 $GPRMC,103514.400,A,4046.008329,N,11913.672598,W,0.001,48.55,040707,,,A*79 $G PVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103514.600,4046.008330,N,rent +00011 +00008 Gain: Kp Kd Ki 11913.672599,W,1,10,0.86,1185.445,M,-+00 015 +00000 +00001 mindr maxdr m20.833,M,,*69 $GPRMC,103514.600,A,40axa dead: +00030 +00200 +00255 +0046.008330,N,11913.672599,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gai n: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103514.800,4046.008331,N,1191entSense: -00016 Velocity Steer: 3.672601,W,1,10,0.86,1185.444,M,-20.8target current +00011 +00010 Gain: 33,M,,*65 $GPRMC,103514.800,A,4046.0Kp Kd Ki + 00015 +00000 +00001 min08331,N,11913.672601,W,0.001,48.55,0dr maxdr maxa dead: +00030 +00200 40707,,,A*7F $GPVTG,48.55,T,,M,0.001+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: + 00,N,0.002,K,A*02 030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103515.000,4046.008332,N,1191dr maxdr maxa dead: +00030 +00200 3.672604,W,1,10,0.86,1185.442,M,-20.8+00255 +00010 33,M,,*6C $GPRMC,103515.000,A,4046.008332,N,11913.672604,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001Motor1: +00000 +00000 +00000 ,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mind r maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103515.200,4046.008333,N,11913.672605,W,1,10,0.86,1185.440,M,-20.833,M,,*6C $GPRMC,103515.200,A,4046.008333,N,11913.672605,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0Motor1: +00000 +00000 +00000 .001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense : -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +000 15 +00000 +00001 min$GPGGA,103515.400,4046.dr maxdr maxa dead: +00030 +00200 008333,N,11913.672604,W,1,10,0.86,11+00255 +00010 85.439,M,-20.833,M,,*65 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,358Motor1: +00000 +00000 +00000 ,34,07,77,312,32,24,73,000,,21,49,275PID: +00008 +00010 +00004 ISav: +, 37*75 $GPGSV,3,2,11,10,35,049,39,300000 encoderSpeed: +00000 curr0,28,195,40,29,23,105,33,18,22,205,39entSense: -00014 Velocity Steer: *72 $GPGSV,3,3,11,16,19,317,32,26,18target current +00011 +00009 Gain: ,120,38,05,15,184,39*41 $GPRMC,103515.400,A,4046.008333,N,11913.672604,W,0.000,48.55,040707,,,A*74 $GPVTG,48 .55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGA,103515.600,4046.008333,N,1rent +00011 +00009 Gain: Kp Kd Ki 1913.672604,W,1,10,0.86,1185.438,M,-2+00015 + 00000 +00001 mindr maxdr m0.833,M,,*66 $GPRMC,103515.600,A,404axa dead: +00030 +00200 +00255 +006.008333,N,11913.672604,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103515.800,4046.008333,N,11913rentSense: -00015 Velocity Steer:.672605,W,1,10,0.86,1185.437,M,-20.83 target current +00011 +00010 Gain:3,M,,*66 $GPRMC,103515.800,A,4046.00 Kp Kd Ki +00 015 +00000 +00001 mi8333,N,11913.672605,W,0.001,48.55,04ndr maxdr maxa dead: +00030 +002000707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr max dr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103516.000,4046.008334,ndr maxdr maxa dead: +00030 +00200N,11913.672606,W,1,10,0.86,1185.435, +00255 +00010 M,-20.833,M, ,*6B $GPRMC,103516.000,A,4046.008334,N,11913.672606,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,Motor1: +00000 +00000 +00000 M,0.000,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103516.200,4046.008333,N,11913.672606,W,1,10,0.86,1185.434,M,-20.833,M,,*6F $GPRMC,103516.200,A,4046.008333,N,11913.672606,W,0.000,48.55,040707,,,A*73 $GPVTG,4Motor1: +00000 +00000 +00000 8.55,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentS ense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +0 0009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103516.40dr maxdr maxa dead: +00030 +00200 0,4046.008334,N,11913.672606,W,1,10,+00255 +00010 0.86,1185.432,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06Motor1: +00000 +00000 +00000 ,87,358,34,07,77,312,32,24,73,000,,21PID: +00008 +00010 +00004 ISav: +,49,275,37 *75 $GPGSV,3,2,11,10,35,0400000 encoderSpeed: +00000 curr9,39,30,28,195,40,29,23,105,33,18,22entSense: -00015 Velocity Steer: ,205,39*72 $GPGSV,3,3,11,16,19,317,3target current +00011 +00009 Gain: 2,26,18,120,38,05,15,184,39*41 $GPRMKp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +002 55 +00010 C,103516.400,A,4046.008334,N,11913.672606,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103516.600,4046.008334,N,11-00015 Velocity Steer: target cur913.672607,W,1,10,0.86,1185.431,M,-20rent +00011 +00008 Gain: Kp Kd Ki .833, M,,*68 $GPRMC,103516.600,A,404+00015 +00000 +00001 mindr maxdr m6.008334,N,11913.672607,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: K p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103516.800,4046.008334,N,11entSense: -00014 Velocity Steer:913.672608,W,1,10,0.86,1185.432,M,-20 target current +00011 +00009 Gain:.833,M,,*6A $GPRMC,103516.800,A,4046 Kp Kd Ki +00015 +00000 +00001 mi.008334,N,11913.672608,W,0.001,48.55ndr maxdr maxa dead: +00030 +00200,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103517.000,4046.008335,N,11913.672610,W,1,10,0.86,1185.430,M,-20.833,M,,*69 $GPRMC,103517.000,A,4046.008335,N,11913.672610,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.0Motor1: +00000 +00000 +00000 01,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0 0000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103517.200,4046.0 08335,N,11913.672611,W,1,10,0.86,1185.430,M,-20.833,M,,*6A $GPRMC,103517.200,A,4046.008335,N,11913.672611,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.0Motor1: +00000 +00000 +00000 00,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velo city Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103517.400,4046.0 08335,N,11913.672611,W,1,10,0.86,1185.430,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,358,3Motor1: +00000 +00000 +00000 4,07,77,312,32,24,73,000,16,21,49,275 PID: +00008 +00010 +00004 ISav: +,36*73 $GPGSV,3,2,11,10,35,049,39,30000 0 encoderSpeed: +00000 curr0,28,195,40,29,23,105,34,18,22,205,39entSense: -00016 Velocity Steer: *75 $GPGSV,3,3,11,16,19,317,29,26,1target current +00011 +00010 Gain: 8,120,38,05,15,184,39*4B $GPRMC,103Kp Kd Ki +00015 +00000 +00001 min517.400,A,4046.008335,N,11913.672611,dr maxdr maxa dead: +00030 +00200 +00255 +000 10 W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc$GPGGA,103517.600,4046.008335,N,119oderSpeed: +00000 currentSense: -13.672612,W,1,10,0.86,1185.430,M,-20.00015 Velocity Steer: target curr833,M,,*6D $GPRMC,103517.600,A,4046ent +00011 +00008 Gain: Kp Kd Ki +.008335 ,N,11913.672612,W,0.000,48.5500015 +00000 +00001 mindr maxdr ma,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 xa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103517.800,4046.008335,N,11913.672614,W,1,10,0.86,1185.430,M,-20.833,M,,*65 $GPRMC,103517.800,A,4046.008335,N,11913.672614,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.0Motor1: +00000 +00000 +00000 01,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103518.000,4046.008335, N,11913.672616,W,1,10,0.86,1185.431,M,-20.833,M,,*61 $GPRMC,103518.000,A,4046.008335,N,11913.672616,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Veloci ty Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103518.200,4046.00833 6,N,11913.672618,W,1,10,0.86,1185.432,M,-20.833,M,,*6D $GPRMC,103518.200,A,4046.008336,N,11913.672618,W,0.002,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Veloci ty Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103518.400,4046.008336 ,N,11913.672619,W,1,10,0.86,1185.430,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,358,34,07,77,312,32,24,73,000,14,21,49,275,37*Motor1: +00000 +00000 +00000 70 $GPGSV,3,2,11,10,35,049,39,30,28PID: +00008 +00010 +00004 ISav: +0,195,41,29 ,23,105,34,18,22,205,38*75 0000 encoderSpeed: +00000 curr $GPGSV,3,3,11,16,19,317,33,26,18,12entSense: -00016 Velocity Steer: 0,38,05,15,184,39*40 $GPRMC,103518.4target current +00011 +00010 Gain: 00,A,4046.008336,N,11913.672619,W,0.0Kp Kd Ki +00015 +00000 +00001 min01,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N ,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,103518.600,4046.008336,N,1191coderSpeed: +00000 currentSense: 3.672618,W,1,10,0.86,1185.431,M,-20.8-00014 Velocity Steer: target cur33,M,,*6A $GPRMC,103518.600,A,4046.rent +00011 +00009 Gain: Kp Kd Ki 008336,N,11913.67 2618,W,0.001,48.55,+00015 +00000 +00001 mindr maxdr m040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00 011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103518.800,4046.008336,N,11913.672619,W,1,10,0.86,1185.430,M,-20.833,M,,*64 $GPRMC,103518.800,A,4046.008336,N,11913.672619,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103519.000,4046.008335,N, 11913.672620,W,1,10,0.86,1185.430,M,-20.833,M,,*64 $GPRMC,103519.000,A,4046.008335,N,11913.672620,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Veloci ty Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103519.200,4046.008335 ,N,11913.672620,W,1,10,0.86,1185.431,M,-20.833,M,,*67 $GPRMC,103519.200,A,4046.008335,N,11913.672620,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 V elocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103519.400,4046 .008334,N,11913.672622,W,1,10,0.86,1185.429,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,358,34,07,77,312,32,24,73,000,14,21,49,Motor1: +00000 +00000 +00000 275,38*7F $GPGSV,3,2,11,10,35,049,3 PID: +00008 +00010 +00004 ISav: +9,30,28,195, 41,29,23,105,35,18,22,20500000 encoderSpeed: +00000 curr,38*74 $GPGSV,3,3,11,16,19,317,33,26entSense: -00017 Velocity Steer: ,18,120,38,05,15,184,38*41 $GPRMC,10target current +00011 +00009 Gain: 3519.400,A,4046.008334,N,11913.67262Kp Kd Ki +00015 +00000 +00001 min2,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.0 01,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,103519.600,4046.008334coderSpeed: +00000 currentSense: ,N,11913.672623,W,1,10,0.86,1185.428-00016 Velocity Steer: target cur,M,-20.833,M,,*69 $GPRMC,103519.600,rent +00011 +00010 Gain: Kp Kd Ki A,4046.008334,N,11913. 672623,W,0.001,+00015 +00000 +00001 mindr maxdr m48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +0 0011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103519.800,4046.008333,N,11913.672624,W,1,10,0.86,1185.427,M,-20.833,M,,*68 $GPRMC,103519.800,A,4046.008333,N,11913.672624,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: tar get current +00011 +00010 Gain: $GPGGA,103520.000,4046.008333,N,11913Kp Kd Ki +00015 +00000 +00001 min.672624,W,1,10,0.86,1185.427,M,-20.83dr maxdr maxa dead: +00030 +00200 3,M,,*6A $GPRMC,103520.000,A,4046.00+00255 +00010 8333,N,11913.672624,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A *01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: tar get current +00011 +00009 Gain: $GPGGA,103520.200,4046.008333,N,11913Kp Kd Ki +00015 +00000 +00001 min.672624,W,1,10,0.86,1185.427,M,-20.83dr maxdr maxa dead: +00030 +00200 3,M,,*68 $GPRMC,103520.200,A,4046.00+00255 +00010 8333,N,11913.672624,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A *02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103520.400,4046.008332,NKp Kd Ki +00015 +00000 +00001 min,11913.672623,W,1,10,0.86,1185.428,Mdr maxdr maxa dead: +00030 +00200 ,-20.833,M,,*67 $GPGSA,A,3,10,16,18,+00255 +00010 21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,359,34,07,77,312,32,24,73,000,15,21,49,275,38*7F $GPGSV,3,2,11,10,35,049,39,30,28,195,41,29,23,105,35,18,22,205,38*74 $GPGSV,3,3,11,16,19,317,32,26,18,120,38,05,15,184,38*40 $GPRMC,103520.400,A,4046.008332,N,11913.672623,W,0.000,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103520.600,4046.008331,N,11913Kp Kd Ki +00015 +00000 +00001 min.672623,W,1,10,0.86,1185.429,M,-20.83dr maxdr maxa dead: +00030 +00200 3,M,,*67 $GPRMC,103520.600,A,4046.00+00255 +00010 8331,N,11913.672623,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $targe t current +00011 +00010 Gain: GPGGA,103520.800,4046.008332,N,11913.Kp Kd Ki +00015 +00000 +00001 min672624,W,1,10,0.86,1185.429,M,-20.833dr maxdr maxa dead: +00030 +00200 ,M,,*6D $GPRMC,103520.800,A,4046.00+00255 +00010 8332,N,11913.672624,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $targ et current +00011 +00010 Gain: GPGGA,103521.000,4046.008332,N,11913.Kp Kd Ki +00015 +00000 +00001 min672625,W,1,10,0.86,1185.428,M,-20.833dr maxdr maxa dead: +00030 +00200 ,M,,*64 $GPRMC,103521.000,A,4046.008+00255 +00010 332,N,11913.672625,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $target c urrent +00011 +00010 Gain: GPGGA,103521.200,4046.008333,N,11913.Kp Kd Ki +00015 +00000 +00001 min672627,W,1,10,0.86,1185.428,M,-20.833dr maxdr maxa dead: +00030 +00200 ,M,,*65 $GPRMC,103521.200,A,4046.008+00255 +00010 333,N,11913.672627,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103521.400,4046.008333,N,Kp Kd Ki +00015 +00000 +00001 min11913.672629,W,1,10,0.86,1185.427,M,dr maxdr maxa dead: +00030 +00200 -20.833,M,,*62 $GPGSA,A,3,10,16,18,2+00255 +00010 1,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,359,34,07,77,312,32,24,73,000,16,21,49,275,38*7C $GP GSV,3,2,11,10,35,049,39,30,28,195,41,29,23,105,35,18,22,205,38*74 $GPGSV,3,3,11,16,19,317,30,26,18,120,38,05,15,184,37*4D $GPRMC,103521.400,A,4046.008333,N,11913.672629,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Stee r: $Gtarget current +00011 +00009 Gain: PGGA,103521.600,4046.008333,N,11913.Kp Kd Ki +00015 +00000 +00001 mi672629,W,1,10,0.86,1185.426,M,-20.833ndr maxdr maxa dead: +00030 +00200,M,,*61 $GPRMC,103521.600,A,4046.008 +00255 +00010 333,N,11913.672629,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: $GPGGAtarget current +00011 +00010 Gain: ,103521.800,4046.008333,N,11913.6726Kp Kd Ki +00015 +00000 +00001 min30,W,1,10,0.86,1185.426,M,-20.833,M,,dr maxdr maxa dead: +00030 +00200 *67 $GPRMC,103521.800,A,4046.008333+00255 +00010 ,N,11913.672630,W,0.000,48.55,0407 07,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA ,103522.000,4046.008332,N,11913.672630,W,1,10,0.86,1185.428,M,-20.833,M,,*63 $GPRMC,103522.000,A,4046.008332,N,11913.672630,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curr ent +00011 +00009 Gain: $GPGGA,103522.200,4046.008332,NKp Kd Ki +00015 +00000 +00001 min,11913.672630,W,1,10,0.86,1185.430,Mdr maxdr maxa dead: +00030 +00200 ,-20.833,M,,*68 $GPRMC,103522.200,A,+00255 +00010 4046.008332,N,11913.672630,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103522.400,4046.008332,N,11913.67 2632,W,1,10,0.86,1185.431,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,359,34,07,77,312,32,24,73,000,16,21,49,275,38Motor1: +00000 +00000 +00000 *7C $GPGSV,3,2,11,10,35,049,39,30,28PID: +00008 +00010 +00004 ISav: +0,195,41,29,23,105,35,18,2 2,205,38*74 0000 encoderSpeed: +00000 curr $GPGSV,3,3,11,16,19,317,31,26,18,12entSense: -00015 Velocity Steer: 0,38,05,15,184,38*43 $GPRMC,103522.4target current +00011 +00010 Gain: 00,A,4046.008332,N,11913.672632,W,0.0Kp Kd Ki +00015 +00000 +00001 min00,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +000$GP08 +00010 +00004 ISav: +00000 enGGA,103522.600,4046.008331,N,11913.6coderSpeed: +00000 currentSense: 72633,W,1,10,0.86,1185.430,M,-20.833,-00015 Velocity Steer: target curM,,*6C $GPRMC,103522.600,A,4046.008rent +00011 +00009 Gain: K p Kd Ki 331,N,11913.672633,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav:$GP +00000 encoderSpeed: +00000 cuGGA,103522.800,4046.008330,N,11913.67rrentSense: -00015 Velocity Steer2635,W,1,10,0.86,1185.429,M,-20.833,: target current +00011 +00011 GainM,,*6D $GPRMC,103522.800,A,4046.008: Kp Kd Ki +00015 +00000 +00001 m330,N,11 913.672635,W,0.001,48.55,0407indr maxdr maxa dead: +00030 +002007,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 0 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 + 00255 +00010 Motor1: +00000 +00000 +00000$GP PID: +00008 +00010 +00004 ISav: GGA,103523.000,4046.008331,N,11913.67+00000 encoderSpeed: +00000 cur2636,W,1,10,0.86,1185.427,M,-20.833,MrentSense: -00014 Velocity Steer:,,*68 $GPRMC,103523.000,A,4046.0083 target current +00011 +00010 Gain:31,N,11913.672636, W,0.001,48.55,0407 Kp Kd Ki +00015 +00000 +00001 mi07,,,A*77 $GPVTG,48.55,T,,M,0.001,N,ndr maxdr maxa dead: +00030 +00200 +00255 +00010 0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,target cur rent +00011 +00008 Gain: 103523.200,4046.008331,N,11913.672636Kp Kd Ki +00015 +00000 +00001 min,W,1,10,0.86,1185.426,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 6B $GPRMC,103523.200,A,4046.008331,N+00255 +00010 ,11913.672636,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103523.400,4046.008330,Kp Kd Ki +00015 +00000 +00001 minN,11913.672636,W,1,10,0.86,1185.424,dr maxdr maxa dead: +00030 +00200 M,-20.833,M,,*6E $GPGSA,A,3,10,16,18+00255 +00010 ,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,359,34,07,77,312,32,24,73,001,16,21,49,275,38* 7D $GPGSV,3,2,11,10,35,049,39,30,28,195,41,29,23,105,36,18,22,205,38*77 $GPGSV,3,3,11,16,19,317,30,26,18,120,38,05,15,184,38*42 $GPRMC,103523.400,A,4046.008330,N,11913.672636,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 $GP GGA,103523.600,4046.008330,N,11913.672637,W,1,10,0.86,1185.425,M,-20.833,M,,*6C $GPRMC,103523.600,A,4046.008330,N,11913.672637,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer:$GPG target current +00011 +00010 Gain:GA,103523.800,4046.008330,N,11913.672 Kp Kd Ki +00015 +00000 +00001 mi638,W,1,10,0.86,1185.423,M,-20.833,Mndr maxdr maxa dead: +00030 +00200,,*6B $GPRMC,103523.800,A,4046.0083 +00255 +00010 30,N,11913.672638,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GP GGA,103524.000,4046.008331,N,11913.672640,W,1,10,0.86,1185.422,M,-20.833,M,,*6B $GPRMC,103524.000,A,4046.008331,N,11913.672640,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,1target current + 00011 +00010 Gain: 03524.200,4046.008332,N,11913.672642Kp Kd Ki +00015 +00000 +00001 min,W,1,10,0.86,1185.419,M,-20.833,M,,*dr maxdr maxa dead: +00030 +00200 60 $GPRMC,103524.200,A,4046.008332,N+00255 +00010 ,11913.672642,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enco derSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103524.400,4046.008332,N,11913.672643,W,1,10,0 .86,1185.416,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,359,33,07,77,312,32,24,73,001,17,21,49,275,38*7B $Motor1: +00000 +00000 +00000 GPGSV,3,2,11,10,35,049,39,30,28,195,4PID: +00008 +00010 +00004 ISav: +1,29,23,105,36,18,22,205,38*77 $ GPG00000 encoderSpeed: +00000 currSV,3,3,11,16,19,317,31,26,18,120,38,0entSense: -00015 Velocity Steer: 5,15,184,38*43 $GPRMC,103524.400,A,4target current +00011 +00010 Gain: 046.008332,N,11913.672643,W,0.001,48Kp Kd Ki +00015 +00000 +00001 min.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +000$GPG08 +00010 +00004 ISav: +00000 enGA,103524.600,4046.008331,N,11913.672coderSpeed: +00000 currentSense: 644,W,1,10,0.86,1185.413,M,-20.833,M,-00015 Velocity Steer: target cur,*6B $GPRMC,103524.600,A,4046.00833rent +00011 +00009 Gain: Kp Kd Ki 1,N,11913.672644,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,1+00000 encoderSpeed: +00000 cur03524.800,4046.008331,N,11913.672647,rentSense: -00015 Velocity Steer:W,1,10,0.86,1185.410,M,-20.833,M,,*6 target current +00011 +00009 Gain:5 $GPRMC,103524.800,A,4046.008331,N, Kp Kd Ki +00015 +00000 +00001 mi11913.672647 ,W,0.001,48.55,040707,,,Andr maxdr maxa dead: +00030 +00200*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0001 0 Motor1: +00000 +00000 +00000$GPGG PID: +00008 +00010 +00004 ISav: A,103525.000,4046.008331,N,11913.6726+00000 encoderSpeed: +00000 cur49,W,1,10,0.86,1185.410,M,-20.833,M,rentSense: -00015 Velocity Steer:,*62 $GPRMC,103525.000,A,4046.00833 target current +00011 +00010 Gain:1,N,11913.672649,W,0.001,48.55,040707 Kp Kd Ki +00015 +00000 +00001 mi ,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000001,K,A*01 + 00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103525.200,4046.008330,N,11913.672650,W,1,10,0.86,1185.409,M,-20.833,M,,*61 $GPRMC,103525.200,A,4046.008330,N,11913.672650,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00 015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 10 Gain: $GPGGA,103525.400,4046.008330,N,Kp Kd Ki +00015 +00000 +00001 min11913.672651,W,1,10,0.86,1185.410,M,dr maxdr maxa dead: +00030 +00200 -20.833,M,,*6E $GPGSA,A,3,10,16,18,2+00255 +00010 1,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,87,359,33,07,77,312,32,24,73,001,19,21,49,275,38*75Motor1: +00000 +00000 +00000 $GPGSV,3,2,11,10,35,049,39,30,28, 19PID: +00008 +00010 +00004 ISav: +5,41,29,23,105,36,18,22,205,39*76 $G00000 encoderSpeed: +00000 currPGSV,3,3,11,16,19,317,29,26,18,120,3entSense: -00015 Velocity Steer: 8,05,15,184,39*4B $GPRMC,103525.400,A,4046.008330,N,11913.672651,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 target current + 00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGentSense: -00015 Velocity Steer: A,103525.600,4046.008331,N,11913.6726target current +00011 +00010 Gain: 52,W,1,10,0.86,1185.412,M,-20.833,M,,Kp Kd Ki +00015 +00000 +00001 min*6C $GPRMC,103525.600,A,4046.008331,N,11913.672652,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103525.800,4046.008330,N,11913.672654,W,1,10,0.86,1185.412,M,-20.833,M,,*65 $GPRMC,103525.800,A,4046.008330,N,11913.672654,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103target current +0 0011 +00010 Gain: 526.000,4046.008330,N,11913.672655,WKp Kd Ki +00015 +00000 +00001 min,1,10,0.86,1185.411,M,-20.833,M,,*6Cdr maxdr maxa dead: +00030 +00200 $GPRMC,103526.000,A,4046.008330,N,1+00255 +00010 1913.672655,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$GPGGA target current +00011 +0 0010 Gain:,103526.200,4046.008330,N,11913.67265 Kp Kd Ki +00015 +00000 +00001 mi7,W,1,10,0.86,1185.411,M,-20.833,M,,ndr maxdr maxa dead: +00030 +00200*6C $GPRMC,103526.200,A,4046.008330 +00255 +00010 ,N,11913.672657,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpee d: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103526.400,4046.008329,N,target current +00011 +00009 Gain: 11913.672658,W,1,10,0.86,1185.411,M,-Kp Kd Ki +00015 +00000 +00001 min20.833,M,,*6D $GPGSA,A,3,10,16,18,21dr maxdr maxa dead: +00030 +00200 ,30,07,26,29,05,06,,,1.60,0.86,1.35*+00255 +00010 08 $GPGSV,3,1,11,06,88,000,33,07,77,312,32,24,73,001,17,21,49,275, 38*7B $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,38,18,22,205,39*7B $GPGSV,3,3,11,16,19,317,29,26,18,120,38,05,15,184,38*4A $GPRMC,103526.400,A,4046.008329,N,11913.672658,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGAntSense: -00014 Velocity Steer: ,103526.600,4046.008327,N,11913.67265target current +00011 +00010 Gain: 8,W,1,10,0.86,1185.413,M,-20.833,M,,*Kp Kd Ki +00015 +00000 +00001 min63 $GPRMC,103526.600,A,4046.008327,dr maxdr maxa dead: +00030 +00200 N,11913.672658,W,0.001,48.55,040707,+00255 +00010 ,,A*7B $GPVTG,48.55,T,, M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGAentSense: -00014 Velocity Steer: ,103526.800,4046.008326,N,11913.67265target current +00011 +00009 Gain: 8,W,1,10,0.86,1185.412,M,-20.833,M,,*Kp Kd Ki +00015 +00000 +00001 min6D $GPRMC,103526.800,A,4046.008326,dr maxdr maxa dead: +00030 +00200 N,11913.672658,W,0.001,48.55,040707,,+00255 +00010 ,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K, A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103entSense: -00015 Veloci ty Steer: 527.000,4046.008326,N,11913.672661,W,target current +00011 +00010 Gain: 1,10,0.86,1185.411,M,-20.833,M,,*6D Kp Kd Ki +00015 +00000 +00001 min $GPRMC,103527.000,A,4046.008326,N,11dr maxdr maxa dead: +00030 +00200 913.672661,W,0.001,48.55,040707,,,A*7+00255 +00010 7 $GPVTG,48.55,T,,M,0.001,N,0.002,K ,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,1035rentSense: -00014 Velo city Steer:27.200,4046.008327,N,11913.672664,W, target current +00011 +00010 Gain:1,10,0.86,1185.410,M,-20.833,M,,*6A Kp Kd Ki +00015 +00000 +00001 mi $GPRMC,103527.200,A,4046.008327,N,11ndr maxdr maxa dead: +00030 +00200913.672664,W,0.001,48.55,040707,,,A*7 +00255 +00010 1 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A *02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103527.400,4046.008327,N,1191target current +00011 +00010 Gain: 3.672666,W,1,10,0.86,1185.410,M,-20.8Kp Kd Ki +00015 +00000 +00001 min33,M,,*6E $GPGSA,A,3,10,16,18,21,30,dr maxdr maxa dead: +00030 +00200 07,26,29,05,06,,,1.60,0.86,1.35*08 +00255 +00010 $GPGSV,3,1,11,06,88,000,33,07,77,312,32,24,73,00 1,17,21,49,275,38*7B $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,37,18,22,205,39*74 $GPGSV,3,3,11,16,19,317,30,26,18,120,38,05,15,184,38*42 $GPRMC,103527.400,A,4046.008327,N,11913.672666,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPentS ense: -00014 Velocity Steer: GGA,103527.600,4046.008328,N,11913.67target current +00011 +00009 Gain: 2668,W,1,10,0.86,1185.411,M,-20.833,Kp Kd Ki +00015 +00000 +00001 minM,,*6C $GPRMC,103527.600,A,4046.008dr maxdr maxa dead: +00030 +00200 328,N,11913.672668,W,0.001,48.55,0407+00255 +00010 07,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00 200 +00255 +000$GPGGA,103510 27.800,4046.008329,N,11913.672669,W,1,10,0.86,1185.412,M,-20.833,M,,*61 $GPRMC,103527.800,A,4046.008329,N,11913.672669,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $ GPGGA,103528.000,4046.008328,N,11913.672669,W,1,10,0.86,1185.413,M,-20.833,M,,*66 $GPRMC,103528.000,A,4046.008328,N,11913.672669,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: ta rget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103528.200,4046.008328,N,11913.672670,W,1,10,0.86,1185.41 2,M,-20.833,M,,*6D $GPRMC,103528.200,A,4046.008328,N,11913.672670,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103528.400,4046.008328,N,11913.672671,W,1,10,0.86,1185 .411,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,000,33,07,77,312,32,24,73,001,17,21,49,275,38*7B $GPGSV,3,2,11,10,35,049,39,30,Motor1: +00000 +00000 +00000 28,195,42,29,23,105,37,18,22,205,39*PID: +00008 +00010 +00004 ISav: +74 $GPGSV,3,3,1 1,16,19,317,30,26,18,00000 encoderSpeed: +00000 curr120,38,05,15,184,38*42 $GPRMC,10352entSense: -00014 Velocity Steer: 8.400,A,4046.008328,N,11913.672671,W,target current +00011 +00009 Gain: 0.000,48.55,040707,,,A*72 $GPVTG,48.Kp Kd Ki +00015 +00000 +00001 min55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +0003 0 +00200 +00255 +00010 Motor$GPG1: +00000 +00000 +00000 PID: +000GA,103528.600,4046.008329,N,11913.67208 +00010 +00004 ISav: +00000 en673,W,1,10,0.86,1185.409,M,-20.833,McoderSpeed: +00000 currentSense: ,,*61 $GPRMC,103528.600,A,4046.0083-00014 Velocity Steer: target cur29,N,11913.672673, W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 rent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +0000 0 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,1+00000 encoderSpeed: +00000 cur03528.800,4046.008331,N,11913.672675,rentSense: -00015 Velocity Steer:W,1,10,0.86,1185.407,M,-20.833,M,,*6 target current +00011 +00009 Gain:E $GPRMC,103528.800,A,4046.008331,N, Kp Kd Ki +00015 +00000 + 00001 mi11913.672675,W,0.002,48.55,040707,,,Andr maxdr maxa dead: +00030 +00200 +00255 +00010 *70 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +000 30 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103529.000,4046.008332,N,1191300000 encoderSpeed: +00000 curr.672676,W,1,10,0.86,1185.405,M,-20.83entSense: -00015 Velocity Steer: 3,M,,*65 $GPRMC,103529.000,A,4046.00target current +00011 +00009 Gain: 8332,N,11913.672676,W,0.001,48.55,04Kp Kd Ki +00015 +00000 +00001 m in0707,,,A*7A $GPVTG,48.55,T,,M,0.001dr maxdr maxa dead: +00030 +00200 ,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,10010 Motor1: +00000 +00000 +0000003529.200,4046.008333,N,11913.672676, PID: +00008 +00010 +00004 ISav: W,1,10,0.86,1185.404,M,-20.833,M,,*6+00000 encoderSpeed: +00000 cur7 $GPRMC,103529.200,A,4046.008333,N,rentSense: -00015 Velocity Steer:11913.672676,W,0.001,48.55,040707,,,A target current +00011 +00011 Gain:*79 $ GPVTG,48.55,T,,M,0.001,N,0.001, Kp Kd Ki +00015 +00000 +00001 miK,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103529.400,4046.008333,N,11 913.672676,W,1,10,0.86,1185.404,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,000,33,07,77,312,32,24,73,001,17,21,49,276,38*78 $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,37,18,22,205,39*74 $GPGSV,3,3,11,16,19,317,31,26,18,120,38,05,15,184,3 8*43 $GPRMC,103529.400,A,4046.008333,N,11913.672676,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,10entSense: -00015 Velocity Steer: 3529.600,4046.008332,N,11913.672676,Wtarget current +00011 +00009 Gain: ,1,10,0.86,1185.405,M,-20.833,M,,*63Kp Kd Ki +00015 +00000 +00001 min $GPRMC,103529.600,A,4046.008332,N,dr maxdr maxa dead: +00030 +00200 11913.672676,W,0.000,48.55,040707,,,A+00255 +00010 *7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103529ntSense: -00015 Velocity Steer: .800,4046.008333,N,11913.672678,W,1,target current +00011 +00010 Gain: 10,0.86,1185.404,M,-20.833,M,,*63 $GKp Kd Ki +00015 +00000 +00001 minPRMC,103529.800,A,4046.008333,N,11913dr maxdr maxa dead: +00030 +00200 .672678,W,0.001,48.55,040707,,,A*7D +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103530.000,4046.008334,N,11913.672 680,W,1,10,0.86,1185.402,M,-20.833,M,,*65 $GPRMC,103530.000,A,4046.008334,N,11913.672680,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103530entSense: -00013 Velocity Steer: .200,4046.008334,N,11913.672681,W,1,target current +00011 +00009 Gain: 10,0.86,1185.400,M,-20.833,M,,*64 $GKp Kd Ki +00015 +00000 +00001 minPRMC,103530.200,A,4046.008334,N,11913dr maxdr maxa dead: +00030 +00200 .672681,W,0.001,48.55,040707,,,A*7E +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103530.400,4046.008335,N,119 13.672683,W,1,10,0.86,1185.399,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,000,33,07,77,312,32,24,73,001,17,21,49,276,38*78 $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,37,18,22,205,39*74 $GPGSV,3,3,11,16,19,317,32,26,18,120 ,38,05,15,184,38*40 $GPRMC,103530.400,A,4046.008335,N,11913.672683,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103entSense: -00015 Velocity Steer: 530.6 00,4046.008335,N,11913.672683,Wtarget current +00011 +00011 Gain: ,1,10,0.86,1185.400,M,-20.833,M,,*63 Kp Kd Ki +00015 +00000 +00001 min $GPRMC,103530.600,A,4046.008335,N,1dr maxdr maxa dead: +00030 +00200 1913.672683,W,0.001,48.55,040707,,,A*+00255 +00010 79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103530.800,40 46.008335,N,11913.672684,W,1,10,0.86,1185.400,M,-20.833,M,,*6A $GPRMC,103530.800,A,4046.008335,N,11913.672684,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGAentSense: -00015 Velocity Steer: ,103531.000, 4046.008334,N,11913.67268target current +00011 +00009 Gain: 3,W,1,10,0.86,1185.402,M,-20.833,M,,*Kp Kd Ki +00015 +00000 +00001 min67 $GPRMC,103531.000,A,4046.008334,dr maxdr maxa dead: +00030 +00200 N,11913.672683,W,0.001,48.55,040707,+00255 +00010 ,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103531.200,4046.008334,N,11913.672683,W,1,1 0,0.86,1185.401,M,-20.833,M,,*66 $GPRMC,103531.200,A,4046.008334,N,11913.672683,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103531.40 0,4046.008334,N,1191target current +00011 +00010 Gain: 3.672683,W,1,10,0.86,1185.400,M,-20.8Kp Kd Ki +00015 +00000 +00001 min33,M,,*61 $GPGSA,A,3,10,16,18,21,30,dr maxdr maxa dead: +00030 +00200 07,26,29,05,06,,,1.60,0.86,1.35*08 +00255 +00010 $GPGSV,3,1,11,06,88,000,33,07,77,312,30,24,73,001,17,21,49,276,38*7A $GPGSV,3,2,11,10,35,049,39,30,28,195,42,Motor1: +00 000 +00000 +00000 29,23,105,38,18,22,205,39*7B $GPGSV, PID: +00008 +00010 +00004 ISav: +3,3,11,16,19,317,32,26,18,120,38,05,100000 encoderSpeed: +00000 curr5,184,38*40 $GPRMC,103531.400,A,4046.008334,N,11913.672683,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 entSense: -00014 Velocity Steer: target curr ent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103531.600,4046.008334,N,11913.672683,W,1,10,0.86,1185.399,M,-20.833,M,,*64 $GPRMC,103531.600,A,4046.008334,N,11913.672683,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,1035ntSense: -00015 Velocity Steer: t31.800,404 6.008334,N,11913.672684,W,arget current +00011 +00010 Gain: K1,10,0.86,1185.398,M,-20.833,M,,*6C p Kd Ki +00015 +00000 +00001 mind $GPRMC,103531.800,A,4046.008334,N,11r maxdr maxa dead: +00030 +00200 913.672684,W,0.000,48.55,040707,,,A*7+00255 +00010 1 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en coderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103532.000,4046.00833 5,N,11913.672684,W,1,10,0.86,1185.399,M,-20.833,M,,*67 $GPRMC,103532.000,A,4046.008335,N,11913.672684,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,1035entSense: -00016 Velocity Steer: 32.200,40 46.008334,N,11913.672684,W,1target current +00011 +00009 Gain: ,10,0.86,1185.401,M,-20.833,M,,*62 Kp Kd Ki +00015 +00000 +00001 min$GPRMC,103532.200,A,4046.008334,N,119dr maxdr maxa dead: +00030 +00200 13.672684,W,0.001,48.55,040707,,,A*79+00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encod erSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t$GPGGA,103532.400,4046 .008332,N,11913arget current +00011 +00010 Gain: K.672684,W,1,10,0.86,1185.401,M,-20.83p Kd Ki +00015 +00000 +00001 min3,M,,*62 $GPGSA,A,3,10,16,18,21,30,0dr maxdr maxa dead: +00030 +00200 7,26,29,05,06,,,1.60,0.86,1.35*08 $+00255 +00010 GPGSV,3,1,11,06,88,000,33,07,77,312,30,24,73,001,17,21,49,276,38*7A $GPGSV,3,2,11,10,35,049,39,30,28,195,42,2Motor1: +00000 +0 0000 +00000 9,23,105,38,18,22,205,39*7B $GPGSV,3 PID: +00008 +00010 +00004 ISav: +,3,11,16,19,317,32,26,18,120,38,05,100000 encoderSpeed: +00000 curr5,184,38*40 $GPRMC,103532.400,A,4046.008332,N,11913.672684,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 entSense: -00015 Velocity Steer: target current + 00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,10353entSense: -00015 Velocity Steer: 2.600,4046.008331,N,11913.672685,W,1target current +00011 +00009 Gain: ,10,0.86,1185.402,M,-20.833,M,,*61 $Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GPRMC,103532.600,A,4046.008331,N,11913.672685,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00 000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 $GPGGA,103532.80currentSense: -00015 Velocity Ste0,4046.008331,N,11913.672686,W,1,10,er: target current +00011 +00010 Ga0.86,1185.403,M,-20.833,M,,*6D $GPRMin: Kp Kd Ki +00015 +00000 +00001 C,103532.800,A,4046.00 8331,N,11913.6 mindr maxdr maxa dead: +00030 +0072686,W,0.001,48.55,040707,,,A*74 $200 +00255 +00010 GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00 030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103533.00 PID: +00008 +00010 +00004 ISav: 0,4046.008331,N,11913.672687,W,1,10,+00000 encoderSpeed: +00000 cur0.86,1185.403,M,-20.833,M,,*65 $GPRMrentSense: -00014 Velocity Steer:C,103533.000,A,4046.008331,N,11913.67 target current +00011 +00009 Gain:2687,W,0.000,48. 55,040707,,,A*7D $G Kp Kd Ki +00015 +00000 +00001 miPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,10353entSense: -00015 Velocity Steer: 3.200,4046.008 331,N,11913.672689,W,1target current +00011 +00009 Gain: ,10,0.86,1185.403,M,-20.833,M,,*69 $Kp Kd Ki +00015 +00000 +00001 minGPRMC,103533.200,A,4046.008331,N,1191dr maxdr maxa dead: +00030 +00200 3.672689,W,0.001,48.55,040707,,,A*70 +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoder Speed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GntSense: -00015 Velocity Steer: tPGGA,103533.400,4046.008332, N,11913.arget current +00011 +00010 Gain: 672690,W,1,10,0.86,1185.405,M,-20.833Kp Kd Ki +00015 +00000 +00001 min,M,,*62 $GPGSA,A,3,10,16,18,21,30,07dr maxdr maxa dead: +00030 +00200 ,26,29,05,06,,,1.60,0.86,1.35*08 $G+00255 +00010 PGSV,3,1,11,06,88,000,33,07,77,312,30,24,73,001,17,21,49,276,38*7A $GPGSV,3,2,11,10,35,049,39,3 0,28,195,42,29,23,105,38,18,22,205,39*7B $GPGSV,3,3,11,16,19,317,28,26,18,120,38,05,15,184,38*4B $GPRMC,103533.400,A,4046.008332,N,11913.672690,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103533ntSense: -00014 Velocity Steer: t.600,4046 .008332,N,11913.672691,W,1,arget current +00011 +00009 Gain: 10,0.86,1185.406,M,-20.833,M,,*62 $GKp Kd Ki +00015 +00000 +00001 minPRMC,103533.600,A,4046.008332,N,1191dr maxdr maxa dead: +00030 +00200 3.672691,W,0.000,48.55,040707,,,A*7F $GPV TG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGG A,103533.800,4046.008331,N,11913.672690,W,1,10,0.86,1185.406,M,-20.833,M,,*6E $GPRMC,103533.800,A,4046.008331,N,11913.672690,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103534entSense: -00014 Velocity Steer: .000,4046.00833 1,N,11913.672691,W,1,target current +00011 +00011 Gain: 10,0.86,1185.407,M,-20.833,M,,*61 $GKp Kd Ki +00015 +00000 +00001 minPRMC,103534.000,A,4046.008331,N,11913dr maxdr maxa dead: +00030 +00200 .672691,W,0.000,48.55,040707,,,A*7D +00255 +00010 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGentSense: -00015 Velocity Steer: A,103534.200,4046.008331,N, 11913.6726target current +00011 +00009 Gain: 92,W,1,10,0.86,1185.407,M,-20.833,M,,Kp Kd Ki +00015 +00000 +00001 min*60 $GPRMC,103534.200,A,4046.008331dr maxdr maxa dead: +00030 +00200 ,N,11913.672692,W,0.000,48.55,040707+00255 +00010 ,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA0000 encoderSpeed: +00000 curre,103534.400,4046.008332,N, 11913.67269ntSense: -00015 Velocity Steer: t3,W,1,10,0.86,1185.407,M,-20.833,M,,*arget current +00011 +00009 Gain: K64 $GPGSA,A,3,10,16,18,21,30,07,26,p Kd Ki +00015 +00000 +00001 min29,05,06,,,1.60,0.86,1.35*08 $GPGSV,dr maxdr maxa dead: +00030 +00200 3,1,11,06,88,000,33,07,77,312,30,24,+00255 +00010 73,001,17,21,49,276,38*7A $GPGSV,3,2,11,10,35,049,39,30,28,1 95,42,29,23,Motor1: +00000 +00000 +00000 105,38,18,22,205,39*7B $GPGSV,3,3,11PID: +00008 +00010 +00004 ISav: +,16,19,317,29,26,18,120,38,05,15,184,38*4A $GPRMC,103534.400,A,4046.008332,N,11913.672693,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103534entSense: -00015 Velocity Steer: .600,4046.008332,N,11913.672695,W,1,target cur rent +00011 +00010 Gain: 10,0.86,1185.407,M,-20.833,M,,*60 $GKp Kd Ki +00015 +00000 +00001 minPRMC,103534.600,A,4046.008332,N,11913.672695,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,10353400000 encoderSpeed: +00000 curr.80 0,4046.008334,N,11913.672696,W,1,entSense: -00014 Velocity Steer: 10,0.86,1185.408,M,-20.833,M,,*64 $Gtarget current +00011 +00011 Gain: PRMC,103534.800,A,4046.008334,N,11913Kp Kd Ki +00015 +00000 +00001 min.672696,W,0.001,48.55,040707,,,A*76 dr maxdr maxa dead: +00030 +00200 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*0+00255 +00010 2 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103535.+00000 encoderSpeed: +00000 cur000,4046.008334,N,119 13.672696,W,1,1rentSense: -00015 Velocity Steer:0,0.86,1185.410,M,-20.833,M,,*64 $GP target current +00011 +00010 Gain:RMC,103535.000,A,4046.008334,N,11913 Kp Kd Ki +00015 +00000 +00001 mi.672696,W,0.000,48.55,040707,,,A*7E ndr maxdr maxa dead: +00030 +00200$GPVTG,48.55,T,,M,0.000,N,0.001,K,A*0 +00255 +0001 0 0 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103535.00000 encoderSpeed: +00000 curr200,4046.008334,N,11 913.672696,W,1,1entSense: -00015 Velocity Steer: 0,0.86,1185.409,M,-20.833,M,,*6E $GPtarget current +00011 +00009 Gain: RMC,103535.200,A,4046.008334,N,11913.Kp Kd Ki +00015 +00000 +00001 min672696,W,0.000,48.55,040707,,,A*7C dr maxdr maxa dead: +00030 +00200 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*0+00255 +00010 1 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,00000 encoderSpeed: +00000 curr103535.400,4046.008334,N,11913 .672694entSense: -00014 Velocity Steer: ,W,1,10,0.86,1185.410,M,-20.833,M,,*target current +00011 +00009 Gain: 62 $GPGSA,A,3,10,16,18,21,30,07,26,2Kp Kd Ki +00015 +00000 +00001 min9,05,06,,,1.60,0.86,1.35*08 $GPGSV,3dr maxdr maxa dead: +00030 +00200 ,1,11,06,88,000,32,07,77,312,30,24,7+00255 +00010 3,001, 18,21,50,276,38*7C $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,38,18,22,205,39*7B $GPGSV,3,3,11,16,19,317,31,26,18,120,38,05,15,184,38*43 $GPRMC,103535.400,A,4046.008334,N,11913.672694,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1$GPGGA,103535.: +00000 +00000 +00000 PID: +0000600,4046.008335,N, 11913.672693,W,1,18 +00010 +00004 ISav: +00000 enc0,0.86,1185.408,M,-20.833,M,,*6F $GPoderSpeed: +00000 currentSense: -RMC,103535.600,A,4046.008335,N,11913.00015 Velocity Steer: target curr672693,W,0.001,48.55,040707,,,A*7D ent +00011 +00009 Gain: Kp Kd Ki +$GPVTG,48. 55,T,,M,0.001,N,0.002,K,A*000015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 2 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103535.800,001 0 Motor1: +00000 +00000 +000004046.008336,N,11913.672692,W,1,10,0. PID: +00008 +00010 +00004 ISav: 86,1185.407,M,-20.833,M,,*6C $GPRMC,+00000 encoderSpeed: +00000 cur103535.800,A,4046.008336,N,11913.6726rentSense: -00015 Velocity Steer:92,W,0.001,48.55,040707,,,A*71 $GPV target current +00011 +00010 Gain:TG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103536.0010 Motor1: +00000 +00000 +00000 00 ,4046.008336,N,11913.672692,W,1,10 PID: +00008 +00010 +00004 ISav: +,0.86,1185.406,M,-20.833,M,,*66 $GPR00000 encoderSpeed: +00000 currMC,103536.000,A,4046.008336,N,11913.6entSense: -00016 Velocity Steer: 72692,W,0.001,48.55,040707,,,A*7A target current +00011 +00010 Gain: $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03Kp Kd Ki +00 015 +00000 +00001 min dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103536.20010 Motor1: +00000 +00000 +0000 000,4046.008337,N,11913.672692,W,1,10 PID: +00008 +00010 +00004 ISav: ,0.86,1185.405,M,-20.833,M,,*66 $GPR+00000 encoderSpeed: +00000 curMC,103536.200,A,4046.008337,N,11913.6rentSense: -00014 Velocity Steer:72692,W,0.001,48.55,040707,,,A*79 $ target current +00011 +00009 Gain:GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki + 00015 +00000 +00001 mi ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPG0010 Motor1: +00000 +00000 +00000GA,103536 .400,4046.008337,N,11913.672 PID: +00008 +00010 +00004 ISav: 693,W,1,10,0.86,1185.403,M,-20.833,M,+00000 encoderSpeed: +00000 cur,*67 $GPGSA,A,3,10,16,18,21,30,07,2rentSense: -00014 Velocity Steer:6,29,05,06,,,1.60,0.86,1.35*08 $GPGS target current +00011 +00009 Gain:V,3,1,11,06,88,000,32,07,77,312,30,24 Kp Kd Ki + 00015 +00000 +00001 mi,73,001,19,21,50,276,38*7D $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,38,18,22,205,39*7B $GPGSV,3,3,11,16,19,317,30,26,18,120,38,05,15,184,38*42 $GPRMC,103536.400,A,4046.008337,N,11913.672693,W,0.000,48.55,040ndr maxdr maxa dead: +00030 +00200 +00255 +00010 707,,,A*7F $GPVTG,48.55,T,,M,0.000,NMotor1: +00000 +00000 +00000 PID: +00008 +000 10 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr ,0.001,K,A*00 maxa dead: +00030 +00200 +00255 +0$GPGGA,103536.60010 Motor1: +00000 +00000 +0000000,4046.008337,N,11913.672693,W,1,10 PID: +00008 +00010 +00004 ISav: ,0.86,1185.402,M,-20.833,M,,*64 $G PR+00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 MC,103536.600,A,4046.008337,N,11913.672693,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103536.8000000 encoderSpeed: +00000 curr0,4046.008337,N,11913.672692,W, 1,10,entSense: -00014 Velocity Steer: 0.86,1185.403,M,-20.833,M,,*6A $GPRtarget current +00011 +00010 Gain: MC,103536.800,A,4046.008337,N,11913.6Kp Kd Ki +00015 +00000 +00001 min72692,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: + $GPGGA,103500000 encoderSpeed: +00000 curr37.000,4046.008336,N,11913.672691,W,1entSense: -00015 Velocity Steer: ,10,0.86,1185.404,M,-20.833,M,,*66 target current +00011 +00009 Gain: $GPRMC,103537.000,A,4046.008336,N,119Kp Kd Ki +00015 +00000 +00001 min13.672691,W,0.001,48.55,040707,,,A*78dr maxdr maxa dead: +00030 +00200 $GPVTG,48.55,T,,M,0.001,N,0.001,K,+00255 +00010 A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,1035300000 encoderSpeed: +00000 curr7.200,4046.008337,N,11913.672692,W,1entSense: -00014 Velocity Steer:,10,0.86,1185.404,M,-20.833,M,,*66 $ target current +00011 +00010 Gain:GPRMC,103537.200,A,4046.008337,N,1191 Kp Kd Ki +00015 +00000 +00001 mi3.672692,W,0.001,48.55,040707,,,A*78ndr maxdr maxa dead: +00030 +00200 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A +00255 +00010 *02 Motor1: +00000 +00000 + 00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103537.400,4046.008339,N,11913entSens e: -00014 Velocity Steer: .672692,W,1,10,0.86,1185.402,M,-20.83target current +00011 +00010 Gain: 3,M,,*68 $GPGSA,A,3,10,16,18,21,30,0Kp Kd Ki +00015 +00000 +00001 min7,26,29,05,06,,,1.60,0.86,1.35*08 $dr maxdr maxa dead: +00030 +00200 GPGSV,3,1,11,06,88,000,32,07,77,312,3+00255 +00010 0,24,73,001,22,21,50,276,38*75 $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23 ,105,38,18,22,205,39*7B $GPGSV,3Motor1: +00000 +00000 +00000 ,3,11,16,19,317,30,26,18,120,38,05,15,184,38*42 $GPRMC,103537.400,A,4046.008339,N,11913.672692,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -0001 4 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103537.600000 encoderSpeed: +00000 curre0,4046.008341,N,11913.672692,W,1,10,ntSense: -00013 Velocity Steer: 0.86,1185.401,M,-20.833,M,,*66 $GPRMtarget cu rrent +00011 +00009 Gain: C,103537.600,A,4046.008341,N,11913.672692,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0000 0 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103537.800,4046.008342,N,11913.672692,W,1,10,0.86,1185.400,M,-20.833,M,,*6A $GPRMC,103537.800,A,4046.008342,N,11913.672692,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +000 00 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103538.0000000 encoderSpeed: +00000 curr0,4046.008342,N,1 1913.672692,W,1,10,0entSense: -00015 Velocity Steer: .86,1185.401,M,-20.833,M,,*6C $GPRMtarget current +00011 +00009 Gain: C,103538.000,A,4046.008342,N,11913.67Kp Kd Ki +00015 +00000 +00001 min2692,W,0.001,48.55,040707,,,A*77 $Gdr maxdr maxa dead: +00030 +00200 PVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +0 0004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103538.200,4046.008342,N,11913.672692,W,1,10,0.86,1185.403,M,-20.833,M,,*6C $GPRMC ,103538.200,A,4046.008342,N,11913.672692,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu rrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,10300000 encoderSpeed: +00000 curr538.400,4046.008341,N,11913.672690,W,entSe nse: -00015 Velocity Steer: 1,10,0.86,1185.407,M,-20.833,M,,*6F target current +00011 +00011 Gain: $GPGSA,A,3,10,16,18,21,30,07,26,29,0Kp Kd Ki +00015 +00000 +00001 min5,06,,,1.60,0.86,1.35*08 $GPGSV,3,1dr maxdr maxa dead: +00030 +00200 ,11,06,88,000,32,07,77,312,30,24,73,+00255 +00010 001,21,21,50,276,38*76 $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,38,1 8,22,205,39*7B $GPGSV,3,3,11,16,Motor1: +00000 +00000 +00000 19,317,31,26,18,120,38,05,15,184,38*PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 43 $GPRMC,103538.400,A,4046.008341,N,11913.672690,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103538.6000000 encoderSpeed: +00000 curr0,4046.008341,N,11913.672688,W,1,10,0entSense: -00015 Velocity Steer: .86,1185.408,M,-20.833,M,,*6B $GPRMCtarget current +00011 +00010 Gain: ,103538.600,A,4046.008341,N,11913.672688,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 + 00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103538.8000000 encoderSpeed: +00000 curr0,4046.008341,N,11913.672688,W,1,10,0entSense: -00015 Velocity Steer: .86,1185.408,M,-20.833,M,,*65 $GPRMCtarget current +00011 +00009 Gain: ,103538.800,A,4046 .008341,N,11913.672Kp Kd Ki +00015 +00000 +00001 min688,W,0.001,48.55,040707,,,A*77 $GPdr maxdr maxa dead: +00030 +00200 VTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +0 0001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103539.000 PID: +00008 +00010 +00004 ISav: ,4046.008342,N,11913.672688,W,1,10,0+00000 encoderSpeed: +00000 cur.86,1185.409,M,-20.833,M,,*6E $GPRMCrentSense: -00015 Velocity Steer:,103539.000,A,4046.008342,N,11913.672 target current +00011 +00010 Gain:688,W,0.000,48.55,040707 ,,,A*7C $GP Kp Kd Ki +00015 +00000 +00001 miVTG,48.55,T,,M,0.000,N,0.000,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00$GPGGA,103539.200010 ,4046.008342,N,11913.672687,W,1,10,0.86,1185.411,M,-20.833,M,,*6A $GPRMC,103539.200,A,4046.008342,N,11913.672687,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav:$GPGGA, +00000 encoderSpeed: +00000 cu103539.400,4046.008343,N,11913.672686rrentSens e: -00015 Velocity Steer,W,1,10,0.86,1185.412,M,-20.833,M,,*: target current +00011 +00010 Gain6F $GPGSA,A,3,10,16,18,21,30,07,26,2: Kp Kd Ki +00015 +00000 +00001 m9,05,06,,,1.60,0.86,1.35*08 $GPGSV,3indr maxdr maxa dead: +00030 +0020,1,11,06,88,001,32,07,77,312,30,24,70 +00255 +00010 3,001,20,21,50,276,38*76 $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,38, 18,22,205,39*7B $GPGSV,3,3,11,Motor1: +00000 +00000 +00000 16,19,317,32,26,18,120,38,05,15,184, PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 + 00010 38*40 $GPRMC,103539.400,A,4046.008343,N,11913.672686,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103539.6000000 encoderSpeed: +00000 curr,4046.008343,N,11913.672685,W,1,10,0.entSense: -00015 Velocity Steer: 86,1185.414,M,-2 0.833,M,,*68 $GPRMC,target current +00011 +00010 Gain: 103539.600,A,4046.008343,N,11913.672685,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103539.80000000 encoderSpeed: +00000 curr,4046. 008343,N,11913.672683,W,1,10,0.entSense: -00015 Velocity Steer: 86,1185.418,M,-20.833,M,,*6C $GPRMC,target current +00011 +00010 Gain: 103539.800,A,4046.008343,N,11913.6726Kp Kd Ki +00015 +00000 +00001 min83,W,0.001,48.55,040707,,,A*7F $GPVdr maxdr maxa dead: +00030 +00200 TG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +0000 8 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103540.000,4046.008343,N,11913.672683,W,1,10,0.86,1185.421,M, -20.833,M,,*60 $GPRMC,103540.000,A,4046.008343,N,11913.672683,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00 015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA00000 encoderSpeed: +00000 curr,103540.200,4046.008343,N,11913.67268entSense: -0001 4 Velocity Steer: 2,W,1,10,0.86,1185.423,M,-20.833,M,,*target current +00011 +00011 Gain: 61 $GPRMC,103540.200,A,4046.008343,Kp Kd Ki +00015 +00000 +00001 minN,11913.672682,W,0.000,48.55,040707,,dr maxdr maxa dead: +00030 +00200 ,A*7B $GPVTG,48.55,T,,M,0.000,N,0.00+00255 +00010 1,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 e ncoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curre$GPGGA,103540.400,4046.008343,N,1191ntSense: -00014 Velocit y Steer: 3.672681,W,1,10,0.86,1185.424,M,-20.8target current +00011 +00011 Gain: 33,M,,*63 $GPGSA,A,3,10,16,18,21,30,Kp Kd Ki +00015 +00000 +00001 min07,26,29,05,06,,,1.60,0.86,1.35*08 dr maxdr maxa dead: +00030 +00200 $GPGSV,3,1,11,06,88,001,31,07,77,312,+00255 +00010 30,24,73,001,19,21,50,276,38*7F $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,38,18,22,205 ,39*7B $GPGSV,Motor1: +03,3,11,16,19,317,31,26,18,120,38,05,10000 +00000 +00000 PID: +00008 +05,184,38*43 $GPRMC,103540.400,A,4046.008343,N,11913.672681,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 0010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,10350000 encoderSpeed: +00000 curr40.600,4046.008343,N,11913.672679,W,1entSense: -00014 Velocity Steer: ,10,0.86,1185.424,M,-20.833,M,, *66 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPRMC,103540.600,A,4046.008343,N,11913.672679,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103540.800,00000 encoderSpeed: +00000 curr4046.008345,N, 11913.672679,W,1,10,0.8entSense: -00015 Velocity Steer: 6,1185.425,M,-20.833,M,,*6F $GPRMC,1target current +00011 +00010 Gain: 03540.800,A,4046.008345,N,11913.6726Kp Kd Ki +00015 +00000 +00001 min79,W,0.001,48.55,040707,,,A*72 $GPVTdr maxdr maxa dead: +00030 +00200 G,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 + 00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103541.000,40460000 encoderSpeed: +00000 curre.008346,N,11913.672679,W,1,10,0.86,11ntSen se: -00015 Velocity Steer: t85.426,M,-20.833,M,,*66 $GPRMC,10354arget current +00011 +00009 Gain: K1.000,A,4046.008346,N,11913.672679,Wp Kd Ki +00015 +00000 +00001 min,0.001,48.55,040707,,,A*78 $GPVTG,48dr maxdr maxa dead: +00030 +00200 .55,T,,M,0.001,N,0.003,K,A*03 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderS peed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,103541.200,40460000 encoderSpeed: +00000 curre.008347,N,11913.672679,W,1,10,0.86,11ntSe nse: -00015 Velocity Steer: t85.426,M,-20.833,M,,*65 $GPRMC,10354arget current +00011 +00010 Gain: K1.200,A,4046.008347,N,11913.672679,Wp Kd Ki +00015 +00000 +00001 min,0.001,48.55,040707,,,A*7B $GPVTG,48dr maxdr maxa dead: +00030 +00200 .55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderS peed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0$GPGGA,1035410000 encoderSpeed: +00000 curre.400,4046.008346,N,11913.672679,W,1,ntSense: -0001 6 Velocity Steer: t10,0.86,1185.427,M,-20.833,M,,*63 $arget current +00011 +00009 Gain: KGPGSA,A,3,10,16,18,21,30,07,26,29,05,p Kd Ki +00015 +00000 +00001 mind06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11r maxdr maxa dead: +00030 +00200 ,06,88,001,31,07,77,312,30,24,73,001+00255 +00010 ,21,21,50,276,38*74 $GPGSV,3,2,11,10,35,049,39,30,28,195,42,29,23,105,38,18,22,205,39* 7B $GPGSV,3,3,11,16,19Motor1: +00000 +00000 +00000 ,317,31,26,18,120,38,05,15,184,38*43 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPRMC,103541.400,A,4046.008346,N,11913.672679,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103541.600,400000 encoderSpeed: +00000 cur046.008347,N,11913.672679,W,1,10,0.86rentSense: -00015 Velocity Steer:,1185.426,M,-20.833,M,,*61 $GPRMC,10 target current +00011 +00009 Gain:3541.600,A,4046.008347,N,11913.672679,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103541.800,400000 encoderSpeed: +00000 curr046.008348,N,1191 3.672679,W,1,10,0.86entSense: -00015 Velocity Steer: ,1185.425,M,-20.833,M,,*63 $GPRMC,10target current +00011 +00010 Gain: 3541.800,A,4046.008348,N,11913.67267Kp Kd Ki +00015 +00000 +00001 min9,W,0.000,48.55,040707,,,A*7F $GPVTGdr maxdr maxa dead: +00030 +00200 ,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +000 04 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103542.000,4PID: +00008 +00010 +00004 ISav: +0046.008350,N,11913.672679,W,1,10,0.860000 enco derSpeed: +00000 curr,1185.423,M,-20.833,M,,*67 $GPRMC,10entSense: -00014 Velocity Steer: 3542.000,A,4046.008350,N,11913.67267target current +00011 +00009 Gain: 9,W,0.001,48.55,040707,,,A*7C $GPVTGKp Kd Ki +00015 +00000 +00001 min,48.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103542.200,4PID: +00008 +00010 +00004 ISav: +0046.008350,N,11913.672680,W,1,10,0.860000 encoder Speed: +00000 curre,1185.421,M,-20.833,M,,*61 $GPRMC,10ntSense: -00015 Velocity Steer: t3542.200,A,4046.008350,N,11913.67268arget current +00011 +00010 Gain: 0,W,0.000,48.55,040707,,,A*79 $GPVTGKp Kd Ki +00015 +00000 +00001 min,48.55,T,,M,0.000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00 004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103PID: +00008 +00010 +00004 ISav: +0542.400,4046.008350,N,11913.672680,W0000 encoderSpeed: +00 000 curre,1,10,0.86,1185.422,M,-20.833,M,,*64ntSense: -00014 Velocity Steer: t $GPGSA,A,3,10,16,18,21,30,07,26,29,arget current +00011 +00010 Gain: 05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1Kp Kd Ki +00015 +00000 +00001 min,11,06,88,001,32,07,77,312,29,24,73,dr maxdr maxa dead: +00030 +00200 001,20,21,50,276,38*7E $GPGSV,3,2,11+00255 +00010 ,10,35,049,39,30,28,195, 42,29,23,105,38,18,22,205,39*7B $GPGSV,3,3,11,16Motor1: +00000 +00000 +00000 ,19,317,32,26,18,120,38,05,15,184,38*40 $GPRMC,103542.400,A,4046.008350,N,11913.672680,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target c urrent +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103542.600,4046.008350,N,11913.672679,W,1,10,0.86,1185.424,M,-20.833,M,,*66 $GPRMC,10Motor1:3542.600,A,4046.008350,N,11913.67267 +00000 +00000 +00000 PID: +000089,W,0.001,48.55,040707,,,A*7A $GPVTG +00010 +00004 ISav: +00000 enco,48.55,T,,M,0.001,N, 0.001,K,A*01 derSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +$GPGGA,103542.800,4046.000010 Motor1: +00000 +00000 +000008351,N,11913.672679,W,1,10,0.86,11850 PID: +00008 +00010 +00004 ISav:.425,M,-20.833,M,,*68 $GPRMC,103542 +00000 encoderSpeed: +00000 cu.800,A,4046.008351,N,11913.672679,W,0rrentSense: - 00015 Velocity Steer.000,48.55,040707,,,A*74 $GPVTG,48.5: target current +00011 +00010 Gain5,T,,M,0.000,N,0.001,K,A*00 : Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103543.000,4046.008351,N,11913.672679,W,1,10,0.86,1185.424,M,-20.833,M,,*60 $GPRMC,103543.000,A,4046.008351,N,11913.672679,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 $GPGGA,103543 PID: +00008 +00010 +00004 ISav: +.200,4046.008351,N,11913.672680,W,1,00000 encoderSpeed: + 00000 curr10,0.86,1185.424,M,-20.833,M,,*64 $GentSense: -00014 Velocity Steer: PRMC,103543.200,A,4046.008351,N,11913target current +00011 +00010 Gain: .672680,W,0.001,48.55,040707,,,A*78 Kp Kd Ki +00015 +00000 +00001 min$GPVTG,48.55,T,,M,0.001,N,0.002,K,A*dr maxdr maxa dead: +00030 +00200 02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +0000 4 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103PID: +00008 +00010 +00004 ISav: +0543.400,4046.008352,N,11913.672681,W,0000 encoderSpeed: +00000 curre1,10,0.86,1185.423,M,-20.833,M,,*67 ntSense: -00016 Velocity Steer: t $GPGSA,A,3,10,16,18,21,30,07,26,29,0arget current +00011 +00010 Gain: 5,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,Kp Kd Ki +00015 +00000 +00001 min11,06,88,001,32,07,77,312,29,24,73,0dr maxdr maxa dead: +00030 +00200 01,21,21,50,276,38*7F $GPGSV,3,2,11,+00255 +00010 10,35,049,39,30,28,195,43,29, 23,105,39,18,22,205,39*7B $GPGSV,3,3,11,16,19,317,33,26,18,120,38,05,15,184,38*41 $GPRMC,103543.400,A,4046.008352,N,11913.672681,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -000 15 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103543.600,4046.008353,N,11913.672682,W,1,10,0.86,+00255 +00010 1185.422,M,-20.833,M,,*66 $GPRMC,103Motor1543.600,A,4046.008353,N,11913.672682: +00000 +00000 +00000 PID: +0000,W,0.001,48.55,040707,,,A*7C $GPVTG,8 +00010 +00004 ISav: +00 000 enc48.55,T,,M,0.001,N,0.001,K,A*01 oderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$GPGGA,103543.800,4046.000010 Motor1: +00000 +00000 +000008355,N,11913.672682,W,1,10,0.86,1185. PID: +00008 +00010 +00004 ISav: 421,M,-20.833,M,,*6D $GPRMC,103543.+00000 encoderSpeed: +00000 cur800,A,4046.008355,N,11913.672682,W,0.rentSense: -00014 Velocity Steer :002,48.55,040707,,,A*77 $GPVTG,48.5 target current +00011 +00011 Gain:5,T,,M,0.002,N,0.003,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curren t +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +$GPGGA,103544.000,4046.0000010 8356,N,11913.672682,W,1,10,0.86,1185.420,M,-20.833,M,,*60 $GPRMC,103544.000,A,4046.008356,N,11913.672682,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103544.200,4046.00PID: +00008 +00010 +00004 ISav: +8356,N,11913.672682,W,1,10,0.86,1185.00000 encoderSpe ed: +00000 curr420,M,-20.833,M,,*62 $GPRMC,103544.entSense: -00014 Velocity Steer: 200,A,4046.008356,N,11913.672682,W,0.target current +00011 +00009 Gain: 001,48.55,040707,,,A*7A $GPVTG,48.55Kp Kd Ki +00015 +00000 +00001 min,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,10354PID: +00008 +00010 +00004 ISav: +04.400,4046.008356,N,11913.672681,W,10000 encoderSpeed: +00000 curre,10,0.86,1185.422,M,-20.833,M,,*65 ntSense: -00014 Velocity Steer: $GPGSA,A,3,10,16,18,21,30,07,26,29,05target current +00011 +00010 Gain: ,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,1Kp Kd Ki +00015 +00000 +00001 min1,06,88,001,32,07,77,312,29,24,73,00dr maxdr maxa dead: +00030 +00200 1,21,21,50,276,38*7F $GPGSV,3,2,11,1+00255 +00010 0,35,049,39,30,28,195,43,29,23 ,105,39,18,22,205,39*7B $GPGSV,3,3,11,16,19,317,33,26,18,120,38,05,15,184,38*41Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPRMC,103544.400,A,4046.008356,N,11913.672681,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103544.600,4046PID: +00008 +00010 +00004 ISav: +0.008355,N,11913.672681,W,1,10,0.86,10000 encoderSpeed: +00000 curre185.423,M,-20.833,M,,*65 $GPRMC,1035ntSense: -00016 Velocity Steer: t44.600 ,A,4046.008355,N,11913.672681,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103544.800,4046.008355,N,11913.672682,W,1,10,0.86,1185.422,M,-20.833,M,,*69 $GPRMC,103544.800,A,4046.008355,N,11913.672682,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: + 00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103545.000,4046PID: +00008 +00010 +00004 ISav: +.008356,N,11913.672683,W,1,10,0.86,1100000 encoderSpeed: + 00000 curr85.421,M,-20.833,M,,*61 $GPRMC,10354entSense: -00015 Velocity Steer: 5.000,A,4046.008356,N,11913.672683,Wtarget current +00011 +00009 Gain: ,0.001,48.55,040707,,,A*78 $GPVTG,48Kp Kd Ki +00015 +00000 +00001 min.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103545.200,4046PID: +00008 +00010 +00004 ISav: +0.008358,N,11913.672684,W,1,10,0.86,110000 encoderSpeed: + 00000 curre85.419,M,-20.833,M,,*61 $GPRMC,10354ntSense: -00016 Velocity Steer: t5.200,A,4046.008358,N,11913.672684,Warget current +00011 +00010 Gain: ,0.001,48.55,040707,,,A*73 $GPVTG,48Kp Kd Ki +00015 +00000 +00001 min.55,T,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +000 00 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,10354PID: +00008 +00010 +00004 ISav: +05.400,4046.008360,N,11913.672685,W,10000 encoderSpeed: +00000 curre, 10,0.86,1185.416,M,-20.833,M,,*62 $ntSense: -00015 Velocity Steer: tGPGSA,A,3,10,16,18,21,30,07,26,29,05,arget current +00011 +00009 Gain: 06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11Kp Kd Ki +00015 +00000 +00001 min,06,88,002,32,07,77,312,30,24,73,001dr maxdr maxa dead: +00030 +00200 ,21,21,50,276,38*74 $GPGSV,3,2,11,10+00255 +00010 ,35,049,39,30,28,195,43,29,23,105,3 9,18,22,205,40*75 $GPGSV,3,3,11,16,19,317,31,26,18,120,38,05,15,184,38*43Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $ GPRMC,103545.400,A,4046.008360,N,11913.672685,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103545.600,4046.PID: +00008 +00010 +00004 ISav: +0008360,N,11913.672686,W,1,10,0.86,110000 encoderSpeed: +00000 curre85.415,M,-20.833,M,,*60 $GPRMC,10354ntSense: -00015 Velocity Steer: t5.600,A ,4046.008360,N,11913.672686,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentS ense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103545.800,4046.008361,N,11913.672686,W,1,10,0.86,1185.414,M,-20.833,M,,*6E $GPRMC,103545.800,A,4046.008361,N,11913.672686,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103546.000,4 PID: +00008 +00010 +00004 ISav: +046.008362,N,11913.672686,W,1,10,0.8600000 encoderSpeed: + 00000 curr,1185.414,M,-20.833,M,,*66 $GPRMC,1entSense: -00016 Velocity Steer: 03546.000,A,4046.008362,N,11913.6726target current +00011 +00010 Gain: 86,W,0.000,48.55,040707,,,A*78 $GPVTKp Kd Ki +00015 +00000 +00001 miG,48.55,T,,M,0.000,N,0.001,K,A*00 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISa v: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103546.200,4PID: +00008 +00010 +00004 ISav: +0046.008363,N,11913.672685,W,1,10,0.860000 encoderSpeed: +00000 c urre,1185.414,M,-20.833,M,,*66 $GPRMC,10ntSense: -00015 Velocity Steer: t3546.200,A,4046.008363,N,11913.67268arget current +00011 +00009 Gain: 5,W,0.001,48.55,040707,,,A*79 $GPVTGKp Kd Ki +00015 +00000 +00001 min,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103546PID: +00008 +00010 +00004 ISav: +0.400,4046.008363,N,11913.672685,W,1,0000 encoderSpeed: +00000 curre10 ,0.86,1185.415,M,-20.833,M,,*61 $GntSense: -00015 Velocity Steer: tPGSA,A,3,10,16,18,21,30,07,26,29,05,0arget current +00011 +00010 Gain: 6,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,Kp Kd Ki +00015 +00000 +00001 min06,88,002,32,07,77,312,29,24,73,001,dr maxdr maxa dead: +00030 +00200 21,21,50,276,38*7C $GPGSV,3,2,11,10,+00255 +00010 35,049,39,30,28,195,43,29,23,105,39,18,22 ,205,39*7B $GPGSV,3,3,11,16,19,317,32,26,18,120,38,05,15,184,38*40 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPRMC,1 03546.400,A,4046.008363,N,11913.672685,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103546.600,4046.0PID: +00008 +00010 +00004 ISav: +008363,N,11913.672685,W,1,10,0.86,1180000 encoderSpeed: +00000 curre5.414,M,-20.833,M,,*62 $GPRMC,10354ntSense: -00014 Velocity Steer: t6.600,A,4046.0083 63,N,11913.672685,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense : -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103546.800,4046.008363,N,11913.672686,W,1,10,0.86,1185.413,M,-20.833,M,,*68 $GPRMC,103546.800,A,4046.008363,N,11913.672686,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 $GPGGA,103547.000,4046.00836PID: +00008 +00010 +00004 ISav: +4,N,11913.672687,W,1,10,0.86,1185.4100000 encoderSpeed: +0000 0 curr2,M,-20.833,M,,*66 $GPRMC,103547.000entSense: -00015 Velocity Steer: ,A,4046.008364,N,11913.672687,W,0.000target current +00011 +00010 Gain: ,48.55,040707,,,A*7E $GPVTG,48.55,TKp Kd Ki +00015 +00000 +00001 min,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc oderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000$GPGGA,103547.200,4046.0 PID: +00008 +00010 +00004 ISav: 08364,N,11913.672687,W,1,10,0.86,1185+00000 encoderSpeed: +00000 cur.413,M,-20.833,M,,*65 $GPRMC,103547rentSense: -00014 Velocity Steer:.200,A,4046.008364,N,11913.672687,W,0 target current +00011 +00011 Gain:.001,48.55,040707,,,A*7D $GPVTG,48.5 Kp Kd Ki +00015 +00000 +00001 mi5,T,,M,0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103547.PID: +00008 +00010 +00004 ISav: +0400,4046.008364,N,11913.672687,W,1,10000 encoderSpeed: +00000 curre0,0.86, 1185.413,M,-20.833,M,,*63 $GPntSense: -00015 Velocity Steer: tGSA,A,3,10,16,18,21,30,07,26,29,05,06arget current +00011 +00010 Gain: ,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,Kp Kd Ki +00015 +00000 +00001 min06,88,002,32,07,77,312,29,24,73,001,2dr maxdr maxa dead: +00030 +00200 3,21,50,276,38*7E $GPGSV,3,2,11,10,3+00255 +00010 5,049,39,30,28,195,43,29,23,105,39,1 8,22,205,40*75 $GPGSV,3,3,11,16,19,317,32,26,18,120,38,05,15,184,38*40 $GPRMC,103547.400,A,4046.008364,N,11913.672687,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Stee r: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103547.600,40PID: +00008 +00010 +00004 ISav: +046.008364,N,11913.672686,W,1,10,0.86,0000 encoderSpeed: +00000 curre1185.413,M,-20.833,M,,*60 $GPRMC,103ntSense: -00015 Velocity Steer: t547.600,A,4046.008364, N,11913.672686,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103547PID: +00008 +00010 +00004 ISav: +0.800,4046.008364,N,11913.672685,W,1,0000 encoderSpeed: +00000 curre11,0.86,1185.415,M,-20.833,M,,*6A $GntSense: -00015 Velocity Steer: tPRMC,103547.800,A,4046.008364,N,11913arget current +00011 +00010 Gain: K .672685,W,0.000,48.55,040707,,,A*74 p Kd Ki +00015 +00000 +00001 mind$GPVTG,48.55,T,,M,0.000,N,0.000,K,A*r maxdr maxa dead: +00030 +00200 +00255 +00010 01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr max dr maxa dead: +00030 +00200 +00255 +0$GPGGA,1035480010 Motor1: +00000 +00000 +00000.000,4046.008363,N,11913.672685,W,1, PID: +00008 +00010 +00004 ISav: 11,0.86,1185.415,M,-20.833,M,,*6A $G+00000 encoderSpeed: +00000 curPRMC,103548.000,A,4046.008363,N,11913rentSense: -00014 Velocity Steer:.672685,W,0.00 0,48.55,040707,,,A*74 target current +00011 +00010 Gain:$GPVTG,48.55,T,,M,0.000,N,0.001,K,A* Kp Kd Ki +00015 +00000 +00001 mi00 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103548.200,4046.008363,N,11913.672685,W,1,10,0.86,1185.417,M,-20.833,M,,*6B $GPRMC,103548.200,A,4046.008363,N,11913.672685,W,0.000,4 8.55,040707,,,A*76 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103548.4 PID: +00008 +00010 +00004 ISav: +00,4046.008363,N,11913.672685,W,1,1000000 encoderSpeed: +00000 curr,0.86,1185.4 18,M,-20.833,M,,*62 $GPGentSense: -00015 Velocity Steer: SA,A,3,10,16,18,21,30,07,26,29,05,06target current +00011 +00010 Gain:,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,0 Kp Kd Ki +00015 +00000 +00001 mi6,88,002,33,07,77,312,29,24,73,001,24ndr maxdr maxa dead: +00030 +00200,21,50,276,38*78 $GPGSV,3,2,11,10,3 +00255 +00010 5,049,39,30,28,195,43,29,23,105,39,18,22,205,40 *75 $GPGSV,3,3,11,16,19,317,32,26,18,120,38,05,15,184,38*40 $Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 GPRMC,103548.400,A ,4046.008363,N,11913.672685,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103548.600,404PID: +00008 +00010 +00004 ISav: +06.008363,N,11913.672686,W,1,10,0.86,10000 encoderSpeed: +00000 curre185.418,M,-20.833,M,,*63 $GPRMC,1035ntSense: -00014 Velocity Steer: t48.600,A,4046.008363,N,11913 .672686,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103548.800,4046.008PID: +00008 +00010 +00004 ISav: +0363,N,11913.672686,W,1,10,0.86,1185.0000 encoderSpeed: +00000 curre417,M,-20.833,M,,*62 $GPRMC,103548.ntSense: -00014 Velocity Steer: t800,A,4046.008363,N,119 13.672686,W,0.arget current +00011 +00010 Gain: 000,48.55,040707,,,A*7F $GPVTG,48.55Kp Kd Ki +00015 +00000 +00001 min,T,,M,0.000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103549.000,4046PID: +00008 +00010 +00004 ISav: +.008363,N,11913.672687,W,1,10,0.86,100000 encoderSpeed: +00000 curr185.4 16,M,-20.833,M,,*6B $GPRMC,1035entSense: -00015 Velocity Steer: 49.000,A,4046.008363,N,11913.672687,target current +00011 +00010 Gain: W,0.000,48.55,040707,,,A*77 $GPVTG,4Kp Kd Ki +00015 +00000 +00001 min8.55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpee d: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103549.200,PID: +00008 +00010 +00004 ISav: +04046.008365,N,11913.672686,W,1,10,0.80000 encoderSpeed: +00000 curre6,1185.415, M,-20.833,M,,*6D $GPRMC,ntSense: -00014 Velocity Steer: t103549.200,A,4046.008365,N,11913.6726arget current +00011 +00009 Gain: K86,W,0.000,48.55,040707,,,A*72 $GPVp Kd Ki +00015 +00000 +00001 minTG,48.55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpee d: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,10354PID: +00008 +00010 +00004 ISav: +09.400,4046.008366,N,11913.672687,W,10000 encoderSpeed: +00000 curre,10,0.86,1185.41 5,M,-20.833,M,,*69 $ntSense: -00014 Velocity Steer: tGPGSA,A,3,10,16,18,21,30,07,26,29,05arget current +00011 +00009 Gain: K,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,1p Kd Ki +00015 +00000 +00001 min1,06,88,002,33,07,77,312,29,24,73,00dr maxdr maxa dead: +00030 +00200 1,23,21,50,276,38*7F $GPGSV,3,2,11,1+00255 +00010 0,35,049,39,30,28,195,43,29,23,105,39,18,22,205,40*7 5 $GPGSV,3,3,11,16,19,317,31,26,18,120,38,05,15,184,38*43Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPRMC,103549.400,A ,4046.008366,N,11913.672687,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103549.600,4046.008PID: +00008 +00010 +00004 ISav: +0367,N,11913.672687,W,1,10,0.86,1185.40000 encoderSpeed: +00000 curre15,M,-20.833,M,,*6A $GPRMC,103549.6ntSense: -00014 Velocity Steer: t00,A,4046.008367,N,11913.672 687,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 arget current +00011 +00012 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki + 00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103549.800,4046.008367,PID: +00008 +00010 +00004 ISav: +0N,11913.672687,W,1,10,0.86,1185.414,0000 encoderSpeed: +00000 curreM,-20.833,M,,*65 $GPRMC,103549.800,AntSense: -00014 Velocity Steer: t, 4046.008367,N,11913.672687,W,0.001,4arget current +00011 +00009 Gain: K8.55,040707,,,A*7A $GPVTG,48.55,T,,p Kd Ki +00015 +00000 +00001 minM,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103550.000,4046.008366,N,11913.672687,W,1,10,0.86,1185.415,M,-20.833,M,,*65 $GPRMC,103550.000,A,4046.008366,N ,11913.672687,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +000 09 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103550.200,4046.0083PID: +00008 +00010 +00004 ISav: +066,N,11913.672687,W,1,10,0.86,1185.40000 encoderSpeed: +00000 curre16,M, -20.833,M,,*64 $GPRMC,103550.2ntSense: -00016 Velocity Steer: t00,A,4046.008366,N,11913.672687,W,0.0arget current +00011 +00010 Gain: 00,48.55,040707,,,A*78 $GPVTG,48.55,Kp Kd Ki +00015 +00000 +00001 minT,,M,0.000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103550.400,40PID: +00008 +00010 +00004 ISav: +046.008367,N,11913.672688,W,1,10,0.86,0000 encoderSpeed: +00000 curre1185.416,M,-20 .833,M,,*6C $GPGSA,A,ntSense: -00015 Velocity Steer: t3,10,16,18,21,30,07,26,29,05,06,,,1.arget current +00011 +00010 Gain: K60,0.86,1.35*08 $GPGSV,3,1,11,06,88,p Kd Ki +00015 +00000 +00001 min002,33,07,77,312,28,24,73,001,23,21,5dr maxdr maxa dead: +00030 +00200 0,276,37*71 $GPGSV,3,2,11,10,35,049,+00255 +00010 39,30,28,195,43,29,23,105,39,18,22,2 05,40*75 $GPGSV,3,3,11,16,19,317,31,26,18,120,38,05,15,184,38*43 $GPRMC,103550.400,A,4046.008367,N,11913.672688,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103550.600,4046.008367,N,11913.672689,W,1,10,0.86,1185.415,M,-20.833,M,,*6C $GPRMC,103550.600,A,4046.008367,N,11913.672689,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103550.800,4046.0083PID: +00008 +00010 +00004 ISav: +068,N,11913.672690,W,1,10,0.86,1185.410000 encoderSpeed: +00000 curr2,M,-20.833,M,,*62 $GPRMC,103550.80entSense: -00015 Velocity Steer: 0,A,4046.008368,N,11913.672690,W,0.00target current +00011 +00010 Gain: 1,48.55,040707,,,A*7B $GPVTG,48.55,TKp Kd Ki +00015 +00000 +00001 min,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103551.000,4PID: +00008 +00010 +00004 ISav: +0046.008369,N,11913.672691,W,1,10,0.860000 encoderSpeed: +00000 curre,1185.411,M,-20.833 ,M,,*68 $GPRMC,10ntSense: -00015 Velocity Steer: t3551.000,A,4046.008369,N,11913.67269arget current +00011 +00011 Gain: 1,W,0.001,48.55,040707,,,A*72 $GPVTGKp Kd Ki +00015 +00000 +00001 min,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0000 0 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 $GPGGA,103551.200,4046.00837PID: +00008 +00010 +00004 ISav: +00,N,11913.672690,W,1,10,0.86,1185.410000 encoderSpeed: +00000 curre0,M,-20.83 3,M,,*62 $GPRMC,103551.200ntSense: -00014 Velocity Steer: t,A,4046.008370,N,11913.672690,W,0.00arget current +00011 +00010 Gain: K1,48.55,040707,,,A*79 $GPVTG,48.55,Tp Kd Ki +00015 +00000 +00001 min,,M,0.001,N,0.002,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +0000 0 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103551.400Motor1: +00000 +00000 +00000,4046.008369,N,11913.672689,W,1,10,0. PID: +00008 +00010 +00004 ISav: 86,1185.410,M,-20.833,M,,*64 $GPGSA,+00000 encoderSpeed: +00000 curA,3,10,16,18,21,30,07,26,29,05,06,,,rentSense: -00015 Velocity Steer:1.60,0.86,1.35*08 $GPGSV,3,1,11,06, target current +00011 +00007 Gain:88,002,33,07,77,312,28,24,73,001,23,2 Kp Kd Ki +00015 +00000 +00001 mi1,50,276,37*71 $GPGSV,3,2,11,10,35,0ndr maxdr maxa dead: +00030 +0020049,39,30,28,195,43,29,23,105,39,18,2 +0025 5 +00010 2,205,40*75 $GPGSV,3,3,11,16,19,317,32,26,18,120,38,05,15,184,38*40 $GPRMC,103551.400,A,4046.008369,N,11913.672689,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curr$GPGGA,103551.600,4046.0ent +00011 +00008 Gain: Kp Kd Ki +08369,N,11913.672689,W,1,10,0.86,118500015 +00000 +00001 mindr maxdr ma.411,M,-20.833,M,,*67 $GPRMC,103551xa dead: +00030 +00200 +00255 +000.600,A,4046.008369,N,11913.672689,W,010 .001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103551.800,4046.00836Motor1: +00000 +00000 +00000 8,N,11913.672688,W,1,10,0.86,1185.41PID: +00008 +00010 +00004 ISav: +02,M,-20.833,M,,*6A $GPRMC,103551.8000000 encoderSpeed: +00000 curre,A,4046.008368,N,11913.672688,W,0.000ntSense: -00015 Velocity Steer: ,48.55,040707,,,A*72 $GPVTG,48.55,T,target current +00011 +00010 Gain: ,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00 000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103552.000,40Motor1: +00000 +00000 +00000 46.008368,N,11913.672688,W,1,10,0.86,PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +000 00 curre1185.411,M,-20.833,M,,*62 $GPRMC,103552.000,A,4046.008368,N,11913.672688ntSense: -00014 Velocity Steer: t,W,0.000,48.55,040707,,,A*79 $GPVTG,arget current +00011 +00009 Gain: K48.55,T,,M,0.000,N,0.001,K,A*00 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +000 00 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103552.200,404Motor1: +00000 +00000 +00000 6.008368,N,11913.672688,W,1,10,0.86,PID: +00008 +00010 +00004 ISav: +01185.410,M,-20.833,M,,*61 $ GPRMC,1030000 encoderSpeed: +00000 curre552.200,A,4046.008368,N,11913.672688ntSense: -00016 Velocity Steer: t,W,0.001,48.55,040707,,,A*7A $GPVTG,arget current +00011 +00009 Gain: K48.55,T,,M,0.001,N,0.001,K,A*01 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00 000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103552.400,Motor1: +00000 +00000 +000004046.008368,N,11913.672687,W,1,10,0.8 PID: +00008 +00010 +00004 ISav: 6,1185.408,M,-20.833,M,,*61 $G PGSA,A+00000 encoderSpeed: +00000 cur,3,10,16,18,21,30,07,26,29,05,06,,,1rentSense: -00015 Velocity Steer:.60,0.86,1.35*08 $GPGSV,3,1,11,06,88 target current +00011 +00008 Gain:,003,33,07,77,312,28,24,73,001,23,21 Kp Kd Ki +00015 +00000 +00001 mi,50,276,37*70 $GPGSV,3,2,11,10,35,04ndr maxdr maxa dead: +00030 +002009,39,30,28,195 ,43,29,23,105,39,18,22,205,40*75 $GPGSV,3,3,11,16,19,317,33,26,18,120,38,05,15,184,38*41 $GPRMC,103552.400,A,4046.008368,N,11913.672687,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur rent +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr $GPGGA,103552.600,4046.008368maxa dead: +00030 +00200 +00255 +0,N,11913.672688,W,1,10,0.86,1185.4060010 Motor1: +00000 +00000 +00000,M,-20.833,M,,*62 $GPRMC,103552.600, PID: +00008 +00010 +00004 ISav: A,4046.008368,N,11913.672688,W,0.000,+00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00007 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103552.800,4046.008368Motor1: +00000 +00000 +00000 ,N,11913.672689,W,1,10,0.86,1185.404 PID: +00008 +00010 +00004 ISav: +,M,-20.833,M,,*6F $GPRMC,103552.800,00000 encoderSpeed: +00000 currA,4046.008368,N,11913.672689,W,0.000,entSense: -00015 Velocity Steer: 48.55,040707,,,A*70 $GPVTG,48. 55,T,,target current +00011 +00009 Gain: M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103553.000,4046.008368Motor1: +00000 +00000 +00000 ,N,11913.672689,W,1,10,0.86,1185.404PID: +00008 +00010 +00004 ISav: +0,M,-20.833,M,,*66 $GPRMC,103553.000,0000 encoderSpeed: +00000 curreA,4046.008368,N,11913.672689,W,0.001,ntSense: -00016 Velocity Steer: t48.55,0407 07,,,A*78 $GPVTG,48.55,T,,arget current +00011 +00010 Gain: M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103553.200,4046.008368Motor1: +00000 +00000 +00000 ,N,11913.672689,W,1,10,0.86,1185.404, PID: +00008 +00010 +00004 ISav: +M,-20.833,M,,*64 $GP RMC,103553.200,00000 encoderSpeed: +00000 currA,4046.008368,N,11913.672689,W,0.001,entSense: -00014 Velocity Steer: 48.55,040707,,,A*7A $GPVTG,48.55,T,,target current +00011 +00009 Gain: M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0000 0 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,Motor1: +00000 +00000 +00000 103553.400,4046.008368,N,11913.672690PID: +00008 +00010 +00004 ISav: +0,W,1,11,0.86,1185.403,M,-20.833,M,,*0000 enco derSpeed: +00000 curre6C $GPGSA,A,3,10,16,18,21,30,07,24,2ntSense: -00014 Velocity Steer: t6,29,05,06,,1.52,0.86,1.25*0E $GPGSVarget current +00011 +00009 Gain: K,3,1,11,06,88,003,33,07,77,312,28,24,p Kd Ki +00015 +00000 +00001 min73,001,24,21,50,276,37*77 $GPGSV,3,dr maxdr maxa dead: +00030 +00200 2,11,10,35,049,39,30,28,195,43,29,23,+00255 +00010 105,39,18,22,205,40*75 $GPGSV,3,3,11,16,19,317,33,26,18,120,38,05,15,184,38*41 $GPRMC,103553.400,A,4046.008368,N,11913.672690,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curr$GPGGA,103553.6ent +00011 +00009 Gain: Kp Kd Ki +00,4046.008368,N,11913.672692,W,1,1100015 +00000 +00001 mindr maxdr ma,0.86,1185.401,M,-20.833,M,,*6E $GPRxa dead: +00030 +00200 +00255 +000MC,103553.600,A,4046.008368,N,11913.610 72692,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103553.800,4046.008370,Motor1: +00000 +00000 +00000 N,11913.672692,W,1,10,0.86,1185.398,PID: +00008 +00010 +00004 ISav: +0M,-20.833,M,,*6F $GPRM C,103553.800,A0000 encoderSpeed: +00000 curre,4046.008370,N,11913.672692,W,0.001,4ntSense: -00015 Velocity Steer: t8.55,040707,,,A*73 $GPVTG,48.55,T,,arget current +00011 +00010 Gain: KM,0.001,N,0.002,K,A*02 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103554.000,4046.008370,Motor1: +00000 +00000 +00000 N,11913.672692,W,1,10,0.86,1185.396, PID: +00008 +00010 +00004 ISav: +M,-20.833,M,,*6E $GPRMC,103 554.000,A00000 encoderSpeed: +00000 curr,4046.008370,N,11913.672692,W,0.000,4entSense: -00015 Velocity Steer: 8.55,040707,,,A*7D $GPVTG,48.55,T,,target current +00011 +00009 Gain: M,0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103554.200,4046.008371,NMotor1: +00000 +00000 +00000 ,11913.672692,W,1,10,0.86,1185.396,M PID: +00008 +00010 +00004 ISav: +,-20.833,M,,*6D $GPRMC,103 554.200,A00000 encoderSpeed: +00000 curr,4046.008371,N,11913.672692,W,0.000,4entSense: -00015 Velocity Steer: 8.55,040707,,,A*7E $GPVTG,48.55,T,,target current +00011 +00009 Gain: M,0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103554.400,40Motor1: +00000 +00000 +00000 46.008371,N,11913.672691,W,1,10,0.86PID: +00008 +00010 +00004 ISav: +0,1185.396,M,-20.833,M,,*68 $GPGSA,A ,0000 encoderSpeed: +00000 curr3,10,16,18,21,30,07,26,29,05,06,,,1.entSense: -00014 Velocity Steer: 60,0.86,1.35*08 $GPGSV,3,1,11,06,88,target current +00011 +00010 Gain: 003,33,07,77,312,28,24,73,001,24,21,5Kp Kd Ki +00015 +00000 +00001 min0,276,37*77 $GPGSV,3,2,11,10,35,049,dr maxdr maxa dead: +00030 +00200 39,30,28,19 5,43,29,23,105,39,18,22,2+00255 +00010 05,40*75 $GPGSV,3,3,11,16,19,317,33,26,18,120,38,05,15,184,37*4E $GPRMC,103554.400,A,4046.008371,N,11913.672691,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103554.600,4046.0083Motor1: +00000 +00000 +00000 70,N,11913.672690,W,1,10,0.86,1185.39PID: +00008 +00010 +00004 ISav: +07,M,-20.833,M,,*6B $GPRMC,103554.600000 encoderSpeed: +00000 curre0,A,4046.008370,N,11913.672690,W,0.0ntSense: -00015 Velocity Steer: t01,48.55,040707,,,A*78 $GPVTG,48.55,arget current +00011 +00010 Gain: KT,,M,0.001,N,0.001,K,A*01 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103554.800,4Motor1: +00000 +00000 +00000 046.008370,N,11913.672691,W,1,11,0.8PID: +00008 +00010 +00004 ISav: +06,1185.396,M,-20.833,M,,*64 $GPRMC,10000 encoderSpeed: +00000 curre03554.800,A,4046.008370,N,11913.6726ntSense: -00014 Velocity Steer: 91,W,0.001,48.55,040707,,,A*77 $GPVTtarget current +00011 +00009 Gain: G,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103555.000,4Motor1: +00000 +00000 +00000 046.008369,N,11913.672692,W,1,11,0.86 PID: +00008 +00010 +00004 ISav: +,1185.395,M,-20.833,M,,*65 $GPRM C,1000000 encoderSpeed: +00000 curr3555.000,A,4046.008369,N,11913.67269entSense: -00015 Velocity Steer: 2,W,0.000,48.55,040707,,,A*74 $GPVTtarget current +00011 +00010 Gain:G,48.55,T,,M,0.000,N,0.001,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103555.200,4Motor1: +00000 +00000 +00000 046.008370,N,11913.672693,W,1,11,0.86PID: +00008 +00010 +00004 ISav: +0,1185.392,M,-20.833,M,,*69 $GPRMC,1000 00 encoderSpeed: +00000 curre3555.200,A,4046.008370,N,11913.67269ntSense: -00014 Velocity Steer: t3,W,0.000,48.55,040707,,,A*7F $GPVTGarget current +00011 +00009 Gain: K,48.55,T,,M,0.000,N,0.001,K,A*00 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103555Motor1: +00000 +00000 +00000 .400,4046.008371,N,11913.672693,W,1,PID: +00008 +00010 +00004 ISav: +011,0.86,1185.389,M,-20.833,M,,*64 $G0000 enco derSpeed: +00000 currePGSA,A,3,10,16,18,21,30,07,24,26,29,0ntSense: -00013 Velocity Steer: 5,06,,1.52,0.86,1.25*0E $GPGSV,3,1,1target current +00011 +00009 Gain: 1,06,88,003,33,07,77,312,28,24,73,00Kp Kd Ki +00015 +00000 +00001 min1,24,21,50,276,37*77 $GPGSV,3,2,11,1dr maxdr maxa dead: +00030 +00200 0,35,049,39,30,28,195,43 ,29,23,105,39+00255 +00010 ,18,22,205,40*75 $GPGSV,3,3,11,16,19,317,33,26,18,120,38,05,15,184,37*4E $GPRMC,103555.400,A,4046.008371,N,11913.672693,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103555.60Motor1: +00000 +00000 +00000 0,4046.008371,N,11913.672694,W,1,11,0PID: +00008 +00010 +00004 ISav: +0.86,1185.388,M,-20.833,M,,*60 $GPR MC0000 encoderSpeed: +00000 curre,103555.600,A,4046.008371,N,11913.67ntSense: -00014 Velocity Steer: t2694,W,0.001,48.55,040707,,,A*7C $Garget current +00011 +00009 Gain: KPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103555.800,4046.008371,N,Motor1: +00000 +00000 +00000 11913.672694,W,1,10,0.86,1185.387,M,PID: +00008 +00010 +00004 ISav: +-20.833,M,,*60 $GPRMC,103555.8 00,A,400000 encoderSpeed: +00000 curr046.008371,N,11913.672694,W,0.001,48.entSense: -00016 Velocity Steer: 55,040707,,,A*72 $GPVTG,48.55,T,,M,target current +00011 +00010 Gain: 0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103556.000,4046.008370,N,Motor1: +00000 +00000 +00000 11913.672694,W,1,10,0.86,1185.387,M,PID: +00008 +00010 +00004 ISav: +-20.833,M,,*6A $GPRMC,103556.000,A ,400000 encoderSpeed: +00000 curr046.008370,N,11913.672694,W,0.001,48.entSense: -00014 Velocity Steer: 55,040707,,,A*78 $GPVTG,48.55,T,,M,target current +00011 +00009 Gain: 0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103556.200,4046.008369,N,Motor1: +00000 +00000 +00000 11913.672694,W,1,10,0.86,1185.387,M, PID: +00008 +00010 +00004 ISav: +-20.833,M,,*60 $GPRMC,103556.200, A,400000 encoderSpeed: +00000 curr046.008369,N,11913.672694,W,0.001,48.entSense: -00015 Velocity Steer: 55,040707,,,A*72 $GPVTG,48.55,T,,M,target current +00011 +00010 Gain: 0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103556.400,404Motor1: +00000 +00000 +000006.008367,N,11913.672694,W,1,10,0.86,1 PID: +00008 +00010 +00004 ISav: 185.387,M,-20.833,M,,*68 $GPGSA,A,3,+00000 encoderSpeed: +00000 cur10,16,18,21,30,07,26,29,05,06,,,1.60rentSense: -00014 Velocity Steer:,0.86,1.35*08 $GPGSV,3,1,11,06,88,00 target current +00011 +00010 Gain:3,33,07,77,312,28,24,73,001,24,21,50, Kp Kd Ki +00015 +00000 +00001 mi276,37*77 $GPGSV,3,2,11,10,35,049,3ndr maxdr maxa dead: +00030 +002009,30 ,28,195,43,29,23,105,39,18,22,205 +00255 +00010 ,40*75 $GPGSV,3,3,11,16,19,317,33,26,18,120,38,05,15,184,37*4E $GPRMC,103556.400,A,4046.008367,N,11913.672694,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103556.600,4046.00836Motor1: +00000 +00000 +00000 6,N,11913.672693,W,1,10,0.86,1185.38PID: +00008 +00010 +00004 ISav: +07,M,-20.833,M, ,*6C $GPRMC,103556.6000000 encoderSpeed: +00000 curre,A,4046.008366,N,11913.672693,W,0.001ntSense: -00015 Velocity Steer: t,48.55,040707,,,A*7E $GPVTG,48.55,T,arget current +00011 +00010 Gain: ,M,0.001,N,0.003,K,A*03 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103556.800,4046.008366,N,Motor1: +00000 +00000 +00000 11913.672694,W,1,10,0.86,1185.388,M,-PID: +00008 +00010 +00004 ISav: +020.833,M,,*6A $GPRMC,103556.800,A, 400000 encoderSpeed: +00000 curre46.008366,N,11913.672694,W,0.001,48.ntSense: -00015 Velocity Steer: t55,040707,,,A*77 $GPVTG,48.55,T,,M,0arget current +00011 +00009 Gain: .001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103557.000,4046.008366,N,Motor1: +00000 +00000 +00000 11913.672695,W,1,10,0.86,1185.386,M,-PID: +00008 +00010 +00004 ISav: +020.833,M,,*6C $GPRMC,103557.000,A,400000 encoderSpeed: +00000 curre46.008366,N,11913.672695,W,0.001,48.5ntSense: -00014 Velocity Steer: 5,040707,,,A*7F $GPVTG,48.55,T,,M,0target current +00011 +00010 Gain: .001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103557.200,404Motor1: +00000 +00000 +00000 6.008366,N,11913.672695,W,1,11,0.86,1 PID: +00008 +00010 +00004 ISav: +185.385,M,-20.833,M,,*6C $GPRMC,10300000 enc oderSpeed: +00000 curr557.200,A,4046.008366,N,11913.672695entSense: -00015 Velocity Steer: ,W,0.001,48.55,040707,,,A*7D $GPVTG,target current +00011 +00009 Gain: 48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,1035Motor1: +00000 +00000 +00000 57.400,4046.008365,N,11913.672694,W,PID: +00008 +00010 +00004 ISav: +01,11,0.86,1185.384,M,-20.833,M,,*69 0000 encoderSpeed: +0 0000 curre $GPGSA,A,3,10,16,18,21,30,07,24,26,2ntSense: -00015 Velocity Steer: t9,05,06,,1.52,0.86,1.25*0E $GPGSV,3,arget current +00011 +00009 Gain: 1,11,06,88,003,33,07,77,312,28,24,73Kp Kd Ki +00015 +00000 +00001 min,001,24,21,50,276,37*77 $GPGSV,3,2,1dr maxdr maxa dead: +00030 +00200 1,10,35,049,39, 30,28,195,43,29,23,105+00255 +00010 ,39,18,22,205,40*75 $GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103557.400,A,4046.008365,N,11913.672694,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103557.600,Motor1: +00000 +00000 +00000 4046.008363,N,11913.672693,W,1,11,0.8PID: +00008 +00010 +00004 ISav: +06,1185.385,M,-20.833,M, ,*6B $GPRMC,0000 encoderSpeed: +00000 curre103557.600,A,4046.008363,N,11913.6726ntSense: -00015 Velocity Steer: t93,W,0.002,48.55,040707,,,A*79 $GPVarget current +00011 +00010 Gain: TG,48.55,T,,M,0.002,N,0.003,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103557.800,404Motor1: +00000 +00000 +00000 6.008362,N,11913.672691,W,1,11,0.86,1PID: +00008 +00010 +00004 ISav: +0185.386,M,-20.833,M,,*65 $GPRMC,10350000 encoder Speed: +00000 curre57.800,A,4046.008362,N,11913.672691,ntSense: -00015 Velocity Steer: W,0.002,48.55,040707,,,A*74 $GPVTG,4target current +00011 +00010 Gain: 8.55,T,,M,0.002,N,0.003,K,A*00 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103558.000,4046.008Motor1: +00000 +00000 +00000 359,N,11913.672688,W,1,10,0.86,1185. PID: +00008 +00010 +00004 ISav: +388,M,-20.833,M,,*6D $GPRMC,103558.00000 enc oderSpeed: +00000 curr000,A,4046.008359,N,11913.672688,W,0.entSense: -00016 Velocity Steer: 002,48.55,040707,,,A*73 $GPVTG,48.55target current +00011 +00009 Gain: ,T,,M,0.002,N,0.004,K,A*07 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,1Motor1: +00000 +00000 +00000 03558.200,4046.008356,N,11913.672686, PID: +00008 +00010 +00004 ISav: +W,1,11,0.86,1185.391,M,-20.833,M,,*600000 encoderSpeed: +00000 curr7 $GPRMC,103558.200,A,4046.008356,N,entSense: -00015 Velocity Steer: 11913.672686,W,0.001,48.55,040707,,,Atarget current +00011 +00009 Gain: *73 $GPVTG,48.55,T,,M,0.001,N,0.002,Kp Kd Ki +00015 +00000 +00001 minK,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGMotor1: +00000 +00000 +00000 A,103558.400,4046.008356,N,11913.672 PID: +00008 +00010 +00004 ISav: +685,W,1,11,0.86,1185.391,M,-20.833,M,00000 encoderSpeed: +00000 cu rr,*62 $GPGSA,A,3,10,16,18,21,30,07,2entSense: -00015 Velocity Steer: 4,26,29,05,06,,1.52,0.86,1.25*0E $GPtarget current +00011 +00010 Gain: GSV,3,1,11,06,88,004,33,07,77,312,29,Kp Kd Ki +00015 +00000 +00001 min24,73,001,24,21,50,276,37*71 $GPGSVdr maxdr maxa dead: +00030 +00200 ,3,2,11,10,35,049,39,30,28,195,43,29,+00255 +00010 23 ,105,39,18,22,205,40*75 $GPGSV,3,3,11,16,19,317,32,26,18,120,37,05,15,184,37*40 $GPRMC,103558.400,A,4046.008356,N,11913.672685,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curr$GPGGA,103558.600,4046.00835 6,ent +00011 +00010 Gain: Kp Kd Ki N,11913.672685,W,1,10,0.86,1185.389,+00015 +00000 +00001 mindr maxdr mM,-20.833,M,,*68 $GPRMC,103558.600,Aaxa dead: +00030 +00200 +00255 +00,4046.008356,N,11913.672685,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103558.800,4046.008356,N,11Motor1: +00000 +00000 +00000 913.672686,W,1,10,0.86,1185.388,M,-20PID: +00008 +00010 +00004 ISav: +0.833,M,,*64 $GPRMC,103558.800,A,4040000 encoderSpeed: +00000 curre6.008356,N,11913.672686,W,0.000,48.55ntSense: -00013 Velocity Steer: t,040707,,,A*78 $GPVTG,48.55,T,,M,0.arget cu rrent +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103559.000,4046.008355,N,11Motor1: +00000 +00000 +00000 913.672685,W,1,10,0.86,1185.386,M,-20PID: +00008 +00010 +00004 ISav: +0.833,M,,*63 $GPRMC,103559.000,A,40460000 encoderSpeed: +00000 curr.008355,N,11913.672685,W,0.001,48.55entSense: -00014 Velocity Steer: ,040707,,,A*70 $GPVTG,48.55,T,,M,0.0target current +00011 +00010 Gain: 01,N,0.001,K ,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead : +00030 +00200 +00255 +00010 $GPGGA,103559.200,4046.008354,N,11913.672684,W,1,10,0.86,1185.386,M,-20.833,M,,*61 $GPRMC,103559.200,A,4046.008354,N,11913.672684,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103559.400,4046.008352,N,11913.672684,W,1,10,0.86,1185.386,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11, 06,88,004,33,07,77,312,29,24,73,001,24,21,50,276,37*71 $GPGSV,3,2,11,10,35,048,40,30,28,195,43,29,23,105,39,18,22,205,40*7A $GPGSV,3,3,11,16,19,317,31,26,18,120,37,05,15,184,37*43 $GPRMC,103559.400,A,4046.008352,N,11913.672684,W,0.001,48.55,040707,,,A*72 $GPVTG,4Motor1: +00000 +00000 +00000 8.55,T,,M,0.001,N,0.002,K,A*02 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103559.600,4046.008351,N,11913.672683,W,1,10,0.86,1185.387,MMotor1: +00000 +00000 +00000 ,-20.833,M,,*66 $GPRMC,103559.600,A,PID: +00008 +00010 +00004 ISav: +04046.008 351,N,11913.672683,W,0.001,480000 encoderSpeed: +00000 curre.55,040707,,,A*74 $GPVTG,48.55,T,,MntSense: -00013 Velocity Steer: ,0.001,N,0.001,K,A*01 target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 + 00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103559.800,4046.008350,N,11913.672683,W,1,10,0.86,1 185.387,M,-20.833,M,,*69 $GPRMC,103559.800,A,4046.008350,N,11913.672683,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00 009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103600.000,4046.008351,N,11913.672684,W,1,10,0.86,1185.386,M,-20.833,M,,*69 $GPRMC,103600.000,A,4046.008351,N,11913.672684,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M ,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity S teer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103600.200,4046.008350,N,11913.672684,W,1,10,0.86,1185.384,M,-20.833,M,,*68 $GPRMC,103600.200,A,4046.008350,N,11913.672684,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M ,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103600.400,4046.008351,N,11913.672684,W,1,10,0.86,1185.382,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,0 04,33,07,77,312,29,24,73,001,24,21,50,276,37*71 $GPGSV,3,2,11,10,35,048,40,30,28,195,43,29,23,105,39,18,22,205,40*7A $GPGSV,3,3,11,16,19,317,31,26,18,120,37,05,15,184,37*43 $GPRMC,103600.400,A,4046.008351,N,11913.672684,W,0.000,48.55,040707,,,A*7F $GPVTG,48Motor1: +00000 +00000 +00000 .55,T,,M,0.000,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 enco derSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103600.600,4046.008350,N,11913.672684,W,1,10,0.86,1185.381,M,-20.833,M,,*69 $GPRMC,103600.600,A,4046.008350,N,11913.672684,W,0.000,48.55,040707,,,A* 7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103600.800,4046.008350,N,11913.672683,W,1,10,0.86,1185.379,M,-20.833,M,,*67 $GPRMC,103600.800,A,4046.008350,N,11913.672683,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.0 00,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: t arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103601.000,4046.008349,N,11913.672682,W,1,10,0.86,1185.379,M,-20.833,M,,*67 $GPRMC,103601.000,A,4046.008349,N,11913.672682,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0 .001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103601.200,4046.008348,N,11913.672680,W,1,10,0.86,1185.380,M,-20.833,M,,*60 $GPRMC,103601.200,A,4046.008348,N,11913.672680,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,, M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103601.400,4046.008348,N,11913.672679,W,1,10,0.86,1185.379,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,0 04,33,07,77,312,29,24,73,001,21,21,50,276,38*7B $GPGSV,3,2,11,10,35,048,40,30,28,195,43,29,23,105,39,18,22,205,40*7A $GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103601.400,A,4046.008348,N,11913.672679,W,0.000,48.55,040707,,,A*74 $GPVTMotor1: +00000 +00000 +00000 G,48.55,T,,M,0.000,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderS peed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103601.600,4046.008347,N,11913.672679,W,1,10,0.86,1185Motor1: +00000 +00000 +00000.379,M,-20.833,M,,*6B $GPRMC,103601. PID: +00008 +00010 +00004 ISav: 600,A,4046.00834 7,N,11913.672679,W,0+00000 encoderSpeed: +00000 cur.001,48.55,040707,,,A*78 $GPVTG,48.5rentSense: -00014 Velocity Steer:5,T,,M,0.001,N,0.002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103601.800,4046.008347,N,11913.672680,W,1,10,0.86,1185.379,M,-20.8Motor1: +00000 +00000 +00000 33,M,,*63 $GPRMC,103601.800,A,4046.0 PID: +00008 +00010 +00004 ISav: +08347,N,11913.67 2680,W,0.001,48.55,000000 encoderSpeed: +00000 curr40707,,,A*70 $GPVTG,48.55,T,,M,0.001entSense: -00014 Velocity Steer: ,N,0.001,K,A*01 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSen se: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103602.000,4046.008346,N,11913.672680,W,1,10,0.86,1185.379,M,-20.833,M,,*69 $GPRMC,103602.000,A,4046.008346,N,11913.672680,W,0.001,48.55,040707,,,A*7A $GPVT G,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103602.200,4046.008344,N,11913.672678,W,1,10,0.86,1185.379,M,-20.83Motor1: +00000 +00000 +00000 3,M,,*6E $GPRMC,103602.200,A,4046.00PID: +00008 +00010 +00004 ISav: +8344,N,11913.672678 ,W,0.001,48.55,0400000 encoderSpeed: +00000 curr0707,,,A*7D $GPVTG,48.55,T,,M,0.001,entSense: -00015 Velocity Steer: N,0.002,K,A*02 target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: - 00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103602.400,4046.008343,N,11913.672677,W,1,10,0.86,1185.380,M,-20.833,M,,*66 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,004 ,33,07,77,312,29,24,73,002,23,21,50,276,38*7A $GPGSV,3,2,11,10,35,048,40,30,28,195,43,29,23,105,39,18,22,205,40*7A $GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103602.400,A,4046.008343,N,11913.672677,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,TMotor1: +00000 +00000 +00000 ,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpe ed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103602.600,4046.008343,N,11913.672676,W,1,10,0.86,1185.380,M,-20.83Motor1: +00000 +00000 +00000 3,M,,*65 $GPRMC,103602.600,A,4046.00PID: +00008 +00010 +00004 ISav: +08343,N,11913.6726 76,W,0.001,48.55,040000 encoderSpeed: +00000 curre0707,,,A*70 $GPVTG,48.55,T,,M,0.001,ntSense: -00016 Velocity Steer: N,0.002,K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +000 10 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +0$0010 GPGGA,103602.800,4046.008341,N,11913.672675,W,1,10,0.86,1 185.380,M,-20.833,M,,*6A $GPRMC,103602.800,A,4046.008341,N,11913.672675,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103603.000,4046.008341,N,11913.672674,W,1,10,0.86,1185.380,M,-20.83Motor1: +00000 +00000 +00000 3,M,,*62 $GPRMC,103603.000,A,4046.00 PID: +00008 +00010 +00004 ISav: +8341,N,11913.672674,W, 0.000,48.55,0400000 encoderSpeed: +00000 curr0707,,,A*76 $GPVTG,48.55,T,,M,0.000,entSense: -00015 Velocity Steer: N,0.001,K,A*00 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -000 16 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103603.200,4046.008341,N,11913.672672,W,1,10,0.86,1185.378,M,-20.833,M,Motor1: +00000 +00000 +00000 ,*61 $GPRMC,103603.200,A,4046.00834 PID: +00008 +00010 +00004 ISav: +1,N,11913.672672,W,0.0 01,48.55,04070700000 encoderSpeed: +00000 curr,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.entSense: -00016 Velocity Steer: 002,K,A*02 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103603.400,4046.008341,N,11913.672671,W,1,10,0.86,1185.377,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,004,33,07,77,312,29,24 ,73,002,22,21,50,276,38*7B $GPGSV,3,2,11,10,35,048,40,30,28,195,43,29,23,105,39,18,22,205,40*7A $GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103603.400,A,4046.008341,N,11913.672671,W,0.001,48.55,040707,,,A*76 $GPVTG,48.55,T,Motor1: +00000 +00000 +00000 ,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cu rrentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103603.600,4046.008341,N,11913.672670,W,1,10,0.86,1185.377,M,-20.833Motor1: +00000 +00000 +00000 ,M,,*68 $GPRMC,103603.600,A,4046.008PID: +00008 +00010 +00004 ISav: +0341,N,11913.672670,W,0. 001,48.55,0400000 encoderSpeed: +00000 curr707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103603.800,4046.008342,N,11913.672670,W,1,10,0.86,1185.378,M,-20.833,M,,Motor1: +00000 +00000 +00000*6A $GPRMC,103603.800,A,4046.008342 PID: +00008 +00010 +00004 ISav: ,N,11913.672670,W,0.000,48.55,040707,+00000 encoderSpeed: +00000 cur,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.0rentSense: -00014 Velocity Steer:00,K,A*01 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Mo tor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 $GPGGA,103604.000,4046.008341,N+00010 ,11913.672670,W,1,10,0.86,1185.379,MMotor1: +00000 +00000 +00000 ,-20.833,M,,*67 $GPRMC,1 03604.000,A,PID: +00008 +00010 +00004 ISav: +4046.008341,N,11913.672670,W,0.000,4800000 encoderSpeed: +00000 curr.55,040707,,,A*75 $GPVTG,48.55,T,,MentSense: -00016 Velocity Steer: ,0.000,N,0.001,K,A*00 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103604.200,4046.008341,N,11913.672669,W,1,10,0.86,1185.37Motor1: +00000 +00000 +00000 8,M,-20.833,M,,*6C $GPRMC,103604.20 PID: +00008 +00010 +00004 ISav: +0,A,4046.008341,N,11913.6726 69,W,0.0000000 encoderSpeed: +00000 curr1,48.55,040707,,,A*7E $GPVTG,48.55,TentSense: -00014 Velocity Steer: ,,M,0.001,N,0.002,K,A*02 target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103604.400,4046.008340,N,11913.672669,W,1,10,0.86,1185.378Motor1: +00000 +00000 +00000 ,M,-20.833,M,,*6B $GPGSA,A,3,10,16, PID: +00008 +00010 +00004 ISav: 18,21,30,07,26,29,05,06,,,1.60 ,0.86,1+00000 encoderSpeed: +00000 cur.35*08 $GPGSV,3,1,11,06,88,004,33,07rentSense: -00017 Velocity Steer:,77,312,29,24,73,002,23,21,50,276,38 target current +00011 +00009 Gain:*7A $GPGSV,3,2,11,10,35,048,40,30,28 Kp Kd Ki +00015 +00000 +00001 mi,195,43,29,23,105,39,18,22,205,39*74 ndr maxdr maxa dead: +00030 +00200 $ GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103604.400,A,4046.008340,N,11913.672669,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 $GPGGA,103604.600,4046.008340,N,11913.672669,W,1,10,0.86,1185.375,M,-20.833,M,,*64 $GPRMC,103604.600,A,4046.008340,N,11913.672669,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T ,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00 011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 PGGA,103604.800,4046.008338,N,11913.672669,W,1,10,0.86,1185.374,M,-20.833,M,,*64 $GPRMC,103604.800,A,4046.008338,N,11913.672669,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00 011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GGA,103605.000,4046.008336,N,11913.672667,W,1,10,0.86,1185.374,M,-20.833,M,,*6D $GPRMC,103605.000,A,4046.008336,N,11913.672667,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00 011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GGA,103605.200,4046.008334,N,11913.672666,W,1,10,0.86,1185.374,M,-20.833,M,,*6C $GPRMC,103605.200,A,4046.008334,N,11913.672666,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103605.400,4046.008333,N,11913.672665,W,1,10,0.86,1185.374,Motor1: +00000 +00000 +00000M,-20.833,M,,*6E $GPGSA,A,3,10,16,18 PID: +00008 +00010 +00004 ISav: ,21,30,07,26,29,05,06,,,1.60,0.86,1 .3+00000 encoderSpeed: +00000 cur5*08 $GPGSV,3,1,11,06,88,004,33,07,rentSense: -00015 Velocity Steer:77,312,29,24,73,002,23,21,50,276,38* target current +00011 +00010 Gain:7A $GPGSV,3,2,11,10,35,048,40,30,28, Kp Kd Ki +00015 +00000 +00001 mi195,43,29,23,105,39,18,22,205,39*74 ndr maxdr maxa dead: + 00030 +00200$GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103605.400,A,4046.008333,N,11913.672665,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 $GPGGA,103605.600,4046.008332,N,11913.672664,W,1,10,0.86,1185.376,M,-20.833,M,,*6E $GPRMC,103605.600,A,4046.008332,N,11913.672664,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +0001 1 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GGA,103605.800,4046.008331,N,11913.672665,W,1,10,0.86,1185.378,M,-20.833,M,,*6C $GPRMC,103605.800,A,4046.008331,N,11913.672665,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 + 00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GGA,103606.000,4046.008331,N,11913.672663,W,1,10,0.86,1185.379,M,-20.833,M,,*60 $GPRMC,103606.000,A,4046.008331,N,11913.672663,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 103606.200,4046.008329,N,11913.672661,W,1,10,0.86,1185.379,M,-20.833,M,,*69 $GPRMC,103606.200,A,4046.008329,N,11913.672661,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 + 00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103606.400,4046.008329,N,11913.672660,W,1,10,0.86,1185.377,M,-2Motor1: +00000 +00000 +000000.833,M,,*60 $GPGSA,A,3,10,16,18,21, PID: +00008 +00010 +00004 ISav: 30,07,26,29,05,06,,,1.60,0.86,1.35*0 8+00000 encoderSpeed: +00000 cur $GPGSV,3,1,11,06,88,004,33,07,77,3rentSense: -00015 Velocity Steer:12,29,24,73,002,23,21,50,276,38*7A $ target current +00011 +00010 Gain:GPGSV,3,2,11,10,35,048,40,30,28,195,4 Kp Kd Ki +00015 +00000 +00001 mi3,29,23,105,39,18,22,205,39*74 $GPGndr maxdr maxa dead: +00030 +00200SV,3,3,11,16,19,317,34,26,18,120,37,05,15,184,37*46 $GPRMC,103606.400,A,4046.008329,N,11913.672660,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 $GPGGA,103606.600,4046.008328,N,11913.672660,W,1,10,0.86,1185.378,M,-20.833,M,,*6C $GPRMC,103606.600,A,4046.008328,N,11913.672660,W,0.001,48.55,040707,,,A*7E $GPVTG, 48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +0001 0 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 GA,103606.800,4046.008327,N,11913.672659,W,1,10,0.86,1185.378,M,-20.833,M,,*67 $GPRMC,103606.800,A,4046.008327,N,11913.672659,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +000 09 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103607.000,4046.008327,N,11913.672660,W,1,10,0.86,1185.380,M,-20.83Motor1: +00000 +00000 +00000 3,M,,*63 $GPRMC,103607.000,A,4046.00PID: +00008 +00010 +00004 ISav: +8327,N,11913.672660,W,0.000,48.55,0400000 encoderSpeed: +00000 curr0707,,,A*77 $GPVTG,48.55,T,,M,0.000,entSense: -00016 Velocity Steer: N,0.001,K,A*00 target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Stee r: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103607.200,4046.008326,N,11913.672660,W,1,10,0.86,1185.382,M,-20.833,M,,*62 $GPRMC,103607.200,A,4046.008326,N,11913.672660,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103607.400,4046.008326,N,11913.672662,W,1,10,0.86,1185.383,M,Motor1: +00000 +00000 +00000 -20.833,M,,*67 $GPGSA,A,3,10,16,18, PID: +00008 +00010 +00004 ISav: +21,30,07,26,29,05,06,,,1.60,0.86,1.3500000 encoderSpeed: +00000 cur*08 $GPGSV,3,1,11,06,88,004,33,07,7rentSense: -00015 Velocity Steer:7,312,29,24,73,002,23,21,50,276,38*7A target current +00011 +00009 Gain: $GPGSV,3,2,11,10,35,048,40,30,28,19 Kp Kd Ki +00015 +00000 +00001 mi5,43,29,23,105,39,18,22,205,39*74 $Gndr maxdr maxa dead: +00030 +00200PGSV,3,3,11,16,19,317,35,26,18,120,37,05,15,1 84,37*47 $GPRMC,103607.400,A,4046.008326,N,11913.672662,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target cur$GPGGrent +00011 +0000 8 Gain: Kp Kd Ki A,103607.600,4046.008325,N,11913.6726 +00015 +00000 +00001 mindr maxdr 61,W,1,10,0.86,1185.384,M,-20.833,M,,maxa dead: +00030 +00200 +00255 +0*62 $GPRMC,103607.600,A,4046.008325,N,11913.672661,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 0010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 A,103607.800,4046.008325,N,11913.672660,W,1,10,0.86,1185.384,M,-20.833,M,,*6D $GPRMC,103607.800,A,4046.008325,N,11913.672660,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 + 00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 3608.000,4046.008324,N,11913.672659,W,1,10,0.86,1185.385,M,-20.833,M,,*60 $GPRMC,103608.000,A,4046.008324,N,11913.672659,W,0.000,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity S teer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA+00255 +00010 ,103608.200,4046.008323,N,11913.672659,W,1,10,0.86,1185.386,M,-20.833,M,,*66 $GPRMC,103608.200,A,4046.008323Motor1: +00000 +00000 +00000 ,N,11913.672659,W,0.000,48.55,040707,PID: +00008 +00010 +00004 ISav: +0, ,A*74 $GPVTG,48.55,T,,M,0.000,N,0.00000 encoderSpeed: +00000 curre01,K,A*00 ntSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: ta rget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103608.400,4046.008322,N,11913.672659,W,1,10,0.86,1185.388,M,-20.833,M,,*6F $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,004,33,07,77,312,30,24,73,002,22,21,50,276,38*7 3 $GPGSV,3,2,11,10,35,048,40,30,28,195,43,29,23,105,39,18,22,205,39*74 $GPGSV,3,3,11,16,19,317,34,26,18,120,37,05,15,184,38*49 $GPRMC,103608.400,A,4046.008322,N,11913.672659,W,0.000,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Vel ocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA+00255 +00010 ,103608.600,4046.008321,N,11913.672657,W,1,10,0.86,1185.388,M,-20.833,M,,*60 $GPRMC,103608.600,A,4046.008321Motor1: +00000 +00000 +00000 ,N,11913.672657,W,0.001,48.55,040707,PID: +00008 +00010 +00004 ISav: +0,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.00000 encoderSpeed: +00000 curre01,K,A*01 ntSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 + 00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA+00255 +00010 ,103608.800,4046.008320,N,11913.672658,W,1,10,0.86,1185.387,M,-20.833,M,,*6F $GPRMC,103608.800,A,4046.00 8320,Motor1: +00000 +00000 +00000 N,11913.672658,W,0.001,48.55,040707,PID: +00008 +00010 +00004 ISav: +0,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.00000 encoderSpeed: +00000 curr01,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 M otor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr m$GPGGA,103axa dead: +00030 +00200 +00255 +00609.000,4046.008319,N,11913.672658,W,010 1,10,0.86,1185.386,M,-20.833,M,,*6D $ GPRMC,103609.000,A,4046.008319,N,11913.672658,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103+00255 +00010 609.200,4046.008319,N,11913.672657,W,1,10,0.86,1185.385,M,-20.833,M,,*63 $GPRMC,103609.200,A,4046.008319,N,11Motor1: +00000 +00000 +00000 913.672657,W,0.001,48.55,040707,,,A*7PID: +00008 +00010 +00004 ISav: +03 $GPVTG, 48.55,T,,M,0.001,N,0.001,K0000 encoderSpeed: +00000 curre,A*01 ntSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103609.400,4046.008317,N,11913.672656,W,1,10,0.86,1185.387,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,004,33,07,77,312,30,24,73,002,21,21,50,276,39*71 $GPGSV,3,2,11,10,35,048,40,30,28,195,43,29,23,105,39,18,22,205,39*74 $GPGSV,3,3,11,16,19,317,34,26,18,120,37,05,15,184,37*46 $GPRMC,103609.400,A,4046.008317,N,11913.672656,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,+00255 +00010 103609.600,4046.008315,N,11913.672654,W,1,10,0.86,1185.388,M,-20.833,M,,*65 $GPRMC,103609.600,A,4046.008315,N,11913.672654,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: tar get current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,+00255 +00010 103609.800,4046.008314,N,11913.672653,W,1,10,0.86,1185.390,M,-20.833,M,,*64 $GPRMC,103609.800,A,4046.008314,N,11913.672653,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: ta rget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103610.000,4046.008313,N,11913.672652,W,1,10,0.86,1185.389,M,-20.833,M,,*6A $GPRMC,103610.000,A,4046.008313,N,11913.672652,W,0.000,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: ta rget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103610.200,4046.008313,N,11913.672652,W,1,10,0.86,1185.387,M,-20.833,M,,*66 $GPRMC,103610.200,A,4046.008313,N,11913.672652,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103610.400,4046.008313,N,11913.672651,W,1,10,0.86,1185.386,M,-20.833,M,,*62 $GPGSA,A,3,10,1Motor1: +00000 +00000 +00000 6,18,21,30,07,26,29,05,06,,,1.60,0.86PID: +00008 +00010 +00004 ISav: +,1.35*08 $GPGSV ,3,1,11,06,88,004,33,00000 encoderSpeed: +00000 curr07,77,312,30,24,73,002,18,21,50,276,entSense: -00016 Velocity Steer: 39*7B $GPGSV,3,2,11,10,35,048,40,30,target current +00011 +00010 Gain: 28,195,43,29,23,105,39,18,22,205,39*Kp Kd Ki +00015 +00000 +00001 min74 $GPGSV,3,3,11,16,19,317,33,26,18,dr maxdr maxa dead: +00030 +00200 120,37,05,15,184,37 *41 $GPRMC,103610.400,A,4046.008313,N,11913.672651,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense:$GPGGA,1 -00015 Velocity Steer: target cu03610.600,4046.008313,N,11913.672651,rrent +00011 +00009 Gain: Kp Kd Ki W,1,10,0.86,1185.384,M,-20.833,M,,*6 +00015 +00000 +00001 mindr maxdr 2 $GPRMC,103610.600,A,4046.008313,Nmaxa dead: +00030 +00200 +00255 +00010 ,11913.672651,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,10361+00255 +00010 0.800,4046.008312,N,11913.672651,W,1,10,0.86,1185.382,M,-20.833,M,,*6B $GPRMC,103610.800,A,4046.008312,N,119Motor1: +00000 +00000 +00000 13.672651,W,0.000,48.55,040707,,,A*7D PID: +00008 +00010 +00004 ISav: + $GP VTG,48.55,T,,M,0.000,N,0.001,K,A00000 encoderSpeed: +00000 curr*00 entSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPG GA,103611.000,4046.008311,N,11913.672650,W,1,10,0.86,1185.381,M,-20.833,M,,*63 $GPRMC,103611.000,A,4046.00831Motor1: +00000 +00000 +00000 1,N,11913.672650,W,0.001,48.55,040707 PID: +00008 +00010 +00004 ISav: +,,,A*77 $GPVTG,48 .55,T,,M,0.001,N,000000 encoderSpeed: +00000 curr.001,K,A*01 entSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $ GPGGA,103611.200,4046.008310,N,11913.672650,W,1,10,0.86,1185.381,M,-20.833,M,,*60 $GPRMC,103611.200,A,4046.008310,N,Motor1: +00000 +00000 +00000 11913.672650,W,0.001,48.55,040707,,,APID: +00008 +00010 +00004 ISav: +*74 $GPVTG,48.55, T,,M,0.001,N,0.001,00000 encoderSpeed: +00000 currK,A*01 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +000 11 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103611.400,4046.008310,N,11913.672649,W,1,10,0.86,1185.382,M,-20.833,M,,*6D $GPGSA,A,3,10,16,18,21,3Motor1: +00000 +00000 +00000 0,07,26,29,05,06,,,1.60,0.86,1.35*08PID: +00008 +00010 +00004 ISav: + $GPGSV,3,1,11,06,88, 005,32,07,77,3100000 encoderSpeed: +00000 curr2,30,24,73,002,19,21,50,276,38*7B $GentSense: -00015 Velocity Steer: PGSV,3,2,11,10,35,048,40,30,28,195,43target current +00011 +00010 Gain: ,29,23,105,39,18,22,205,39*74 $GPGSKp Kd Ki +00015 +00000 +00001 minV,3,3,11,16,19,317,32,26,18,120,37,0dr maxdr maxa dead: +00030 +00200 5,15,184,37*40 $GPRMC,1 03611.400,A,4046.008310,N,11913.672649,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,10-00015 Velocity Steer: target cur3611.600,4046.008309,N,11913.672648, rent +00011 +00009 Gain: Kp Kd Ki W,1,10,0.86,1185.380,M,-20.833,M,,*6 +00015 +00000 +00001 mindr maxdr 4 $GPRMC,103611.600,A,4046.008309,N,maxa dead: +00030 +00200 +00255 +00010 11913.672648,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense : -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103611+00255 +00010 .800,4046.008309,N,11913.672648,W,1,10,0.86,1185.377,M,-20.833,M,,*62 $GPRMC,103611.800,A,4046.008309,N,1191Motor1: +00000 +00000 +00000 3.672648,W,0.001,48.55,040707,,,A*7F PID: +00008 +00010 +00004 ISav: + $GP VTG,48.55,T,,M,0.001,N,0.001,K,A*00000 encoderSpeed: +00000 curr01 entSense: -00017 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGG A,103612.000,4046.008308,N,11913.672649,W,1,10,0.86,1185.375,M,-20.833,M,,*6B $GPRMC,103612.000,A,4046.00830Motor1: +00000 +00000 +00000 8,N,11913.672649,W,0.000,48.55,040707PID: +00008 +00010 +00004 ISav: +,,,A*75 $GPVTG,48.55 ,T,,M,0.000,N,0.00000 encoderSpeed: +00000 curr000,K,A*01 entSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $ GPGGA,103612.200,4046.008307,N,11913.672648,W,1,10,0.86,1185.374,M,-20.833,M,,*66 $GPRMC,103612.200,A,4046.008307,N,11913Motor1: +00000 +00000 +00000 .672648,W,0.001,48.55,040707,,,A*78 PID: +00008 +00010 +00004 ISav: +0$GPVTG,48.55,T,,M,0.001, N,0.001,K,A*0000 encoderSpeed: +00000 curr01 entSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Ga in: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103612.400,4046.008307,N,11913.672648,W,1,10,0.86,1185.374,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30Motor1: +00000 +00000 +00000 ,07,26,29,05,06,,,1.60,0.86,1.35*08 PID: +00008 +00010 +00004 ISav: + $GPGSV,3,1,11,06,88,005 ,32,07,77,31200000 encoderSpeed: +00000 curr,30,24,73,002,19,21,50,276,38*7B $GPentSense: -00015 Velocity Steer: GSV,3,2,11,10,35,048,40,30,28,195,43target current +00011 +00009 Gain: ,29,23,105,39,18,22,205,39*74 $GPGSKp Kd Ki +00015 +00000 +00001 minV,3,3,11,16,19,317,32,26,18,120,37,05dr maxdr maxa dead: +00030 +00200 ,15,184,37*40 $GPRMC,103612 .400,A,4046.008307,N,11913.672648,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -$GPGGA,10300014 Velocity Steer: target curr612.600,4046.008305,N,11913.672647,W,e nt +00011 +00010 Gain: Kp Kd Ki +1,10,0.86,1185.377,M,-20.833,M,,*6C 00015 +00000 +00001 mindr maxdr m $GPRMC,103612.600,A,4046.008305,N,11913.672647,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103 +00255 +00010 612.800,4046.008305,N,11913.672646,W,1,10,0.86,1185.377,M,-20.833,M,,*63 $GPRMC,103612.800,A,4046.008305,N,11913.672646,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current + 00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA +00255 +00010 ,103613.000,4046.008305,N,11913.672646,W,1,10,0.86,1185.376,M,-20.833,M,,*6B $GPRMC,103613.000,A,4046.008305Motor1: +00000 +00000 +00000 ,N,11913.672646,W,0.000,48.55,040707,PID: +00008 +00010 +00004 ISav: +,,A*76 $GPVTG,48.55,T,,M,0. 000,N,0.000000 encoderSpeed: +00000 curr00,K,A*01 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +0 0011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103+00255 +00010 613.200,4046.008305,N,11913.672646,W,1,10,0.86,1185.374,M,-20.833,M,,*6B $GPRMC,103613.200,A,4046.008305,N,11Motor1: +00000 +00000 +00000 913.672646,W,0.000,48.55,040707,,,A*PID: +00008 +00010 +00004 ISav: +074 $GPVTG,48.55,T,,M,0.000 ,N,0.000,K0000 encoderSpeed: +00000 curr,A*01 entSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103613.400,4046.008305,N,11913.672646,W,1,10,0.86,1185.373,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,Motor1: +00000 +00000 +00000 07,26,29,05,06,,,1.60,0.86,1.35*08 PID: +00008 +00010 +00004 ISav: +$GPGSV,3,1,11,06,88,005,32,07,7 7,312,00000 encoderSpeed: +00000 curr30,24,73,002,20,21,50,276,37*7E $GPGentSense: -00016 Velocity Steer: SV,3,2,11,10,35,048,40,30,28,195,43,target current +00011 +00011 Gain: 29,23,105,38,18,22,205,39*75 $GPGSV,Kp Kd Ki +00015 +00000 +00001 min3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103613.400,A,4046. 008305,N,11913.672646,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target cur$GPGGA,103rent +00011 +00009 Gain: Kp Kd Ki 613.600,4046.008304,N,11913.672645,W,+0 0015 +00000 +00001 mindr maxdr m1,10,0.86,1185.372,M,-20.833,M,,*6B axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mi $GPRMC,103613.600,A,4046.008304,N,11913.672645, W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,1036+0 0255 +00010 13.800,4046.008305,N,11913.672645,W,1,10,0.86,1185.372,M,-20.833,M,,*64 $GPRMC,103613.800,A,4046.008305,N,11Motor1: +00000 +00000 +00000 913.672645,W,0.000,48.55,040707,,,A*7 PID: +00008 +00010 +00004 ISav: +D $GPVTG,48.55,T,,M,0.000,N,0.000,K,00000 encoderSpeed: +00000 currA*01 entSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA +00255 +00010 ,103614.000,4046.008304,N,11913. 672645,W,1,10,0.86,1185.372,M,-20.833,M,,*6A $GPRMC,103614.000,A,4046.008304,Motor1: +00000 +00000 +00000 N,11913.672645,W,0.001,48.55,040707,,PID: +00008 +00010 +00004 ISav: +0,A*72 $GPVTG,48.55,T,,M,0.001,N,0.000000 encoderSpeed: +00000 curre2,K,A*02 ntSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr max dr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,1036+00255 +00010 14.20 0,4046.008303,N,11913.672646,W,1,10,0.86,1185.373,M,-20.833,M,,*6D $GPRMC,103614.200,A,4046.008303,N,11913.672646,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103614.400,4046.008302,N,11913.672646,W,1,10,0.86,1185.373,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,0Motor1: +00000 +00000 +00000 7,26,29,05,06,,,1.60,0.86,1.35*08 $ PID: +00008 +00010 +00004 ISav: +GPGSV,3,1,11,06,88,005,32,07,77,312,3 00000 encoderSpeed: +00000 curr0,24,73,002,20,21,50,276,37*7E $GPGentSense: -00014 Velocity Steer: SV,3,2,11,10,35,048,40,30,28,195,43,target current +00011 +00010 Gain: 29,23,105,38,18,22,205,39*75 $GPGSV,Kp Kd Ki +00015 +00000 +00001 min3,3,11,16,19,317,33,26,18,120,37,05,1dr maxdr maxa dead: +00030 +00200 5,184,37*41 $GPRMC,103614.400,A,4046.00 8302,N,11913.672646,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,1036-00014 Velocity Steer: target cur14.600,4046.008302,N,11913.672646,W,1rent +00011 +0 0009 Gain: Kp Kd Ki ,10,0.86,1185.372,M,-20.833,M,,*69 +00015 +00000 +00001 mindr maxdr m$GPRMC,103614.600,A,4046.008302,N,11913.672646,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 axa dead: +00030 +00200 +00255 +00010 $GPGGA,1036 14.800,4046.008301,N,11913.672646,W,1,10,0.86,1185.372,M,-20.833,M,,*64 $GPRMC,103614.800,A,4046.008301,N,119Motor1: +00000 +00000 +00000 13.672646,W,0.001,48.55,040707,,,A*7C PID: +00008 +00010 +00004 ISav: + $GPVTG,48.55,T,,M,0.001,N,0.001,K,A 00000 encoderSpeed: +00000 curr*01 entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,1+00255 +00010 03615.000,4046.008301,N,11913.672646,W,1,10,0.86,1185.373,M,-20.833,M,,*6C $GPRMC,103615.000,A,4046.008301,NMotor1: +00000 +00000 +00000 ,11913.672646,W,0.000,48.55,040707,,, PID: +00008 +00010 +00004 ISav: A*74 $GPVTG,48.55,T,,M,0.000,N,0. 001+00000 encoderSpeed: +00000 cur,K,A*00 rentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00 010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,10361 +00255 +00010 5.200,4046.008300,N,11913.672645,W,1,10,0.86,1185.373,M,-20.833,M,,*6C $GPRMC,103615.200,A,4046.008300,N,1191Motor1: +00000 +00000 +00000 3.672645,W,0.000,48.55,040707,,,A*74PID: +00008 +00010 +00004 ISav: +0 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A00 00 encoderSpeed: +00000 curr*01 entSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $+00255 +00010 GPGGA,103615.400,4046.008298,N,11913.672643,W,1,10,0.86,1185.375,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07Motor1: +00000 +00000 +00000 ,26,29,05,06,,,1.60,0.86,1.35*08 $G PID: +00008 +00010 +00004 ISav: +PGSV,3,1,11,06,88,005,32,07,77,312,3000 000 encoderSpeed: +00000 curr,24,73,002,18,21,50,276,37*75 $GPGSVentSense: -00015 Velocity Steer: ,3,2,11,10,35,048,40,30,28,195,42,29target current +00011 +00010 Gain: ,23,104,38,18,22,205,39*75 $GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103615.400,A,4046.008298 ,N,11913.672643,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki $GPGGA,10361+00015 +00 000 +00001 mindr maxdr m5.600,4046.008296,N,11913.672642,W,1axa dead: +00030 +00200 +00255 +00,10,0.86,1185.376,M,-20.833,M,,*64 $GPRMC,103615.600,A,4046.008296,N,11913.672642,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Ve locity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103615target current +00011 +00010 Gain: .800,4046.008295,N,11913.672641,W,1,Kp Kd Ki +00015 +00000 + 00001 min10,0.86,1185.376,M,-20.833,M,,*6A $dr maxdr maxa dead: +00030 +00200 GPRMC,103615.800,A,4046.008295,N,1191+00255 +00010 Motor1: +00000 +0003.672641,W,0.001,48.55,040707,,,A*76 00 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 m indr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103616.00+00255 +00010 0,4046.0 08295,N,11913.672642,W,1,10,0.86,1185.376,M,-20.833,M,,*62 $GPRMC,103616.000,A,4046.008295,N,11913.67Motor1: +00000 +00000 +00000 2642,W,0.000,48.55,040707,,,A*7F $G PID: +00008 +00010 +00004 ISav: +PVTG,48.55,T,,M,0.000,N,0.001,K,A*00 00000 encoderSpeed: +00000 curr entSense: -00016 Velocity Steer: ta rget current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103616.200,4046.008295,N,11913.672642,W,1,10,0.86,1185.374,M,-20.833,M,,*62 $GPRMC,103616.200,A,4046.008295,N,Motor1: +00000 +00000 +00000 11913.672642,W,0.000,48.55,040707,,,A PID: +00008 +00010 +00004 ISav: +*7D $GPVTG,48.55,T,,M,0.000,N,0.001,00 000 encoderSpeed: +00000 currK,A*00 entSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA+00255 +00010 ,103616.400,4046.008295,N,11913.672642,W,1,10,0.86,1185.373,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,26Motor1: +00000 +00000 +00000 ,29,05,06,,,1.60,0.86,1.35*08 $GPGSVPID: +00008 +00010 +00004 ISav: +,3,1,11,06,88,005,32,07,77,312,30,24,00000 encoderSpeed: +00000 curr73,002,18,21,50,276,37*75 $GPGSV,3,entSense: -00016 Velocity Steer: 2,11,10,35,048,40,30,28,195,42,29,23,target current +00011 +00010 Gain: 104,38,18,22,205,39*75 $GPGSV,3,3,11Kp Kd Ki +00015 +00000 +00001 min,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103616.400,A,4046.008295,N,11913.6 72642,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103616rent +00011 +00010 Gain: Kp Kd Ki .600,4046.008295,N,11913.672641,W,1,+00015 +00000 +0000 1 mindr maxdr m10,0.86,1185.372,M,-20.833,M,,*63 $Gaxa dead: +00030 +00200 +00255 +00PRMC,103616.600,A,4046.008295,N,11913.672641,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103616rentSense: -00014 Velocity Steer:.800,4046.008294,N,11913.672639,W,1, target current +00011 +00011 Gain:10,0.86,1185.373,M,-20.833,M,,*62 $G Kp Kd Ki +00015 +00000 +000 01 miPRMC,103616.800,A,4046.008294,N,11913ndr maxdr maxa dead: +00030 +00200.672639,W,0.001,48.55,040707,,,A*7B +00255 +00010 Motor1: +00000 +00$GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103617.000,4046.008292,N,11913.672637,W,1,10,0.86,1185.375,M,-20.833,M,,*65 $GPRMC,103617.000,A,4046.008292,N,11913.672637,W,0.001,48.55,040707,,,A*7A Motor1: +00000 +00000 +00000 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*0PID: +00008 +00010 +00004 ISav: +2 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103617. 200,4046.008291,N,11913.672635,W,1,10,0.86,1185.375,M,-20.833,M,,*66 $GPRMC,103617.200,A,4046.008291,N,11913.672635,W,0.001,48.55,040707,,,A*79 Motor1: +00000 +00000 +00000$GPVTG,48.55,T,,M,0.001,N,0.002,K,A*0 PID: +00008 +00010 +00004 ISav: 2 +0000 0 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer : target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,ndr maxdr maxa dead: +00030 +00200103617.400,4046.008291,N,11913.672635 +00255 +00010 ,W,1,10,0.86,1185.376,M,-20.833,M,,*63 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,Motor1: +00000 +00000 +00000 3,1,11,06,88,006,32,07,77,312,30,24,7 PID: +00008 +00010 +00004 ISav: +3,002,19,21,50,276,37*77 $GPGSV,3,200000 encoderSpeed: +00000 curr,11,10,35,048,40,30,28,195,42,29,23,1entSense: -00016 Velocity Steer: 04,38,18,22,205,39*75 $GPGSV,3,3,11,target current +00011 +00010 Gain: 16,19,317,33,26,18,120,37,05,15,184,Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +00030 +00200 +00255 +00010 37*41 $GPRMC,103617.400,A,4046.008291,N,11913.672635,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103617.-00015 Velocity Steer: target cur600,4046.008291,N,11913.672634,W,1,1rent +00011 +00009 G ain: Kp Kd Ki 0,0.86,1185.375,M,-20.833,M,,*63 $GP+00015 +00000 +00001 mindr maxdr mRMC,103617.600,A,4046.008291,N,11913.672634,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc oderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103617.800,4046.008291,N,11913.672633,W,1,10,0.86,1185.373,M,-20.833,M,,*6C $GPRMC,103617.800,A,4046.008291,N,11913.672633,W,0.000,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A* 00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gai n: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103618.0dr maxdr maxa dead: +00030 +00200 00,4046.008291,N,11913.672632,W,1,10+00255 +00010 ,0.86,1185.374,M,-20.833,M,,*6D $GPRMC,103618.000,A,4046.008291,N,11913.672632,W,0.001,48.55,040707,,,A*73 Motor1: +00000 +00000 +00000 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*0PID: +00008 +00010 +0000 4 ISav: +01 0000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t arget current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103618.2dr maxdr maxa dead: +00030 +00200 00,4046.008291,N,11913.672630,W,1,10+00255 +00010 ,0.86,1185.375,M,-20.833,M,,*6C $GPRMC,103618.200,A,4046.008291,N,11913.672630,W,0.001,48.55,040707,,,A*73 Motor1: +00000 +00000 +00000 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02PID: +00008 +00010 +00 004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: targe t current +00011 +00012 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGdr maxdr maxa dead: +00030 +00200 GA,103618.400,4046.008290,N,11913.672+00255 +00010 629,W,1,10,0.86,1185.377,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,2Motor1: +00000 +00000 +00000 6,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,006,32,07,77,312,30,2PID: +00008 +00010 +00004 ISav: +04, 73,002,21,21,50,276,37*7C $GPGSV,30000 encoderSpeed: +00000 curr,2,11,10,35,048,40,30,28,195,42,29,23entSense: -00015 Velocity Steer: ,104,38,18,22,205,39*75 $GPGSV,3,3,target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 11,16,19,317,32,26,18,120,37,05,15,184,37*40 $GPRMC,103618.400,A,4046.008290,N,11913.672629,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.003,K,A*03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target $GPGGA,103618.6current +00011 +00010 Ga in: Kp Kd K00,4046.008289,N,11913.672628,W,1,10i +00015 +00000 +00001 mindr maxd,0.86,1185.377,M,-20.833,M,,*6A $GPRr maxa dead: +00030 +00200 +00255 +00010 MC,103618.600,A,4046.008289,N,11913.672628,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur rentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103618.8rentSense: -00015 Velocity Steer:00,4046.008288,N,11913.672628,W,1,10 target current +00011 +00010 Gain :,0.86,1185.377,M,-20.833,M,,*65 $GPR Kp Kd Ki +00015 +00000 +00001 miMC,103618.800,A,4046.008288,N,11913.6ndr maxdr maxa dead: +00030 +0020072628,W,0.001,48.55,040707,,,A*78 $ +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 0030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,1036dr maxdr maxa dead: +00030 +00200 19.000,4046.008288,N,11913.672629,W,1+00255 +00010 ,10,0.86,1185.378,M,-20.833,M,,*62 $GPRMC,103619.000,A,4046.008288,N,11913.672629,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00017 Velocity Steer: t arget current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,1036dr maxdr maxa dead: +00030 +00200 19.200,4046.008288,N,11913.672629,W,1+00255 +00010 ,10,0.86,1185.377,M,-20.833,M,,*6F $GPRMC,103619.200,A,4046.008288,N,11913.672629,W,0.000,48.55,040707,,,A*73Motor1: +00000 +00000 +00000 $GPVTG,48.55,T,,M,0.000,N,0.001,K, PID: +00008 +00010 +00004 ISav: +A*00 00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103619.400,4046.008288,N,11+00255 +00010 913.672630,W,1,10,0.86,1185.376,M,-20.833,M,,*60 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08Motor1: +00000 +00000 +00000 $GPGSV,3,1,11,06,88,006,32,07,77,3PID: +00008 +00010 +00004 ISav: +12,30,24, 73,002,20,21,50,276,37*7D $00000 encoderSpeed: +00000 currGPGSV,3,2,11,10,35,048,40,30,28,195,4entSense: -00014 Velocity Steer: 2,29,23,104,38,18,22,205,40*7B $GPGtarget current +00011 +00010 Gain: SV,3,3,11,16,19,317,34,26,18,120,37,0Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0 0030 +00200 +00255 +00010 5,15,184,37*46 $GPRMC,103619.400,A,4046.008288,N,11913.672630,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense:$GPGGA,10361 -00015 Velocity Steer: target cu9.600,4046.008288,N,11913.672630,W,1rrent +00011 +00009 Gain : Kp Kd Ki ,10,0.86,1185.374,M,-20.833,M,,*60 $ +00015 +00000 +00001 mindr maxdr GPRMC,103619.600,A,4046.008288,N,11913.672630,W,0.000,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity St eer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 c$GPGGA,103619.80urrentSense: -00015 Velocity Stee0,4046.008287,N,11913.672629,W,1,10,r: target current +00011 +000 10 Gai0.86,1185.373,M,-20.833,M,,*6E $GPRMn: Kp Kd Ki +00015 +00000 +00001 C,103619.800,A,4046.008287,N,11913.67mindr maxdr maxa dead: +00030 +0022629,W,0.000,48.55,040707,,,A*76 $G00 +00255 +00010 PVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity St eer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103620.00dr maxdr maxa dead: +00030 +00200 0,4046.008287,N,11913.672628,W,1,10,+00255 +00010 0.86,1185.374,M,-20.833,M,,*6A $GPRMC,103620.000,A,4046.008287,N,11913.672628,W,0.000,48.55,040707,,,A*75 $GMotor1: +00000 +00000 +00000 PVTG,48.55,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +0 0004 ISav: +0 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain : Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103620.200,40dr maxdr maxa dead: +00030 +00200 46.008287,N,11913.672628,W,1,10,0.86+00255 +00010 ,1185.375,M,-20.833,M,,*69 $GPRMC,103620.200,A,4046.008287,N,11913.672628,W,0.000,48.55,040707,,,A*77 $GPVTGMotor1: +00000 +00000 +00000 ,48.55,T,,M,0.000,N,0.000,K,A*01 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target curren t +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103dr maxdr maxa dead: +00030 +00200 620.400,4046.008287,N,11913.672628,W,+00255 +00010 1,10,0.86,1185.376,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1Motor1: +00000 +00000 +00000 ,11,06,88,006,32,07,77,312,30,24,73, PID: +00008 +00010 +00004 ISav: +002, 20,21,50,276,37*7D $GPGSV,3,2,1100000 encoderSpeed: +00000 curr,10,35,048,40,30,28,195,42,18,23,205,entSense: -00016 Velocity Steer: 40,29,23,104,38*7A $GPGSV,3,3,11,16,target current +00011 +00010 Gain: 19,317,32,26,18,120,37,05,15,184,37*40 $GPRMC,103620.400,A,4046.008287,N,11913.672628,W,0.001,48.55,04 0707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur$GPGGA,103620.60rent +00011 +00009 Gain: Kp Kd Ki 0,4046.008287,N,11913.672628,W,1,10,0+0 0015 +00000 +00001 mindr maxdr m.86,1185.376,M,-20.833,M,,*6E $GPRMCaxa dead: +00030 +00200 +00255 +00010 ,103620.600,A,4046.008287,N,11913.672628,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cu$GPGGA,103620.80rrentSense: -00015 Velocity Steer0,4046.008287,N,11913.672629,W,1,10,0: target current +00011 +00009 Gain.86,1185.375,M,-20.833,M,,*62 $GPRMC: Kp Kd Ki +0001 5 +00000 +00001 m,103620.800,A,4046.008287,N,11913.672indr maxdr maxa dead: +00030 +0020629,W,0.001,48.55,040707,,,A*7D $GP0 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0VTG ,48.55,T,,M,0.001,N,0.001,K,A*01 0030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,103621.00dr maxdr maxa dead: +00030 +00 200 0,4046.008288,N,11913.672629,W,1,10,0+00255 +00010 .86,1185.376,M,-20.833,M,,*67 $GPRMC,103621.000,A,4046.008288,N,11913.672629,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103621.20 0,4046.008288,N,11913.672630,W,1,10,0.86,1185.376,M,-20.833,M,,*6D $GPRMC,103621.200,A,4046.008288,N,11913.672630,W,0.000,48.55,040707,,,A*70 $GPMotor1: +00000 +00000 +00000 VTG,48.55,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +0 0015 +00000 +00001 min$GPGGA,dr maxdr maxa dead: +00030 +00200 103621.400,4046.008288,N,11913.672629+00255 +00010 ,W,1,10,0.86,1185.377,M,-20.833,M,,*62 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,Motor1: +00000 +00000 +00000 3,1,11,06,88,006,32,07,77,312,30,24,7 PID: +00008 +00010 +00004 ISav: +3,002,20,21,5 0,276,37*7D $GPGSV,3,200000 encoderSpeed: +00000 curr,11,10,35,048,40,30,28,195,42,18,23,2entSense: -00015 Velocity Steer: 05,40,29,23,104,38*7A $GPGSV,3,3,11,target current +00011 +00010 Gain: 16,19,317,32,26,18,120,37,05,15,184,Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 + 00255 +00010 37*40 $GPRMC,103621.400,A,4046.008288,N,11913.672629,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103621.600-00016 Velocity Steer: target cur,4046.008288,N,11913.672629,W,1,10,0.rent +00011 +00010 Gain: Kp Kd Ki 8 6,1185.376,M,-20.833,M,,*61 $GPRMC+00015 +00000 +00001 mindr maxdr m,103621.600,A,4046.008288,N,11913.672629,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current + 00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103621.800rentSense: -00015 Velocity Steer:,4046.008287,N,11913.672627,W,1,10,0. target current +00011 +00010 Gain:86,1185.377,M,-20.833,M,,*6F $GPRMC, Kp Kd Ki +00015 +00000 +00001 mi103621.800,A,4046.008287,N,11913.6726ndr maxdr maxa dead: +00030 +0020027,W,0.001,48.55,040707,,,A*72 $GPV +00255 +00010 TG,48.55,T,,M,0.001,N,0.002,K,A*02 $GPGGA,103622 10,0.86,1185.378,M,-20.833,M,,*6B $GPRMC,103622.000,A,4046.008286,N,11913.672626,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPdr maxdr maxa dead: +00030 +00200 GGA,103622.200,4046.008286,N,11913.6+00255 +00010 72626,W,1,10,0.86,1185.378,M,-20.833,M,,*69 $GPRMC,103622.200,A,4046.008286,N,11913.672626,W,0.000,48.55,0407Motor1: +00000 +00000 +00000 07,,,A*7A $GPVTG,48.55,T,,M,0.000,N,PID: +00008 +00010 +00004 ISav: +0.001,K,A*00 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 + 00000 +00001 min$GPdr maxdr maxa dead: +00030 +00200 GGA,103622.400,4046.008286,N,11913.67+00255 +00010 2625,W,1,10,0.86,1185.378,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGMotor1: +00000 +00000 +00000 SV,3,1,11,06,88,006,31,07,77,312,30,2 PID: +00008 +00010 +00004 ISav: +4,73,002,20,21,50, 276,37*7E $GPGSV,300000 encoderSpeed: +00000 curr,2,11,10,35,048,40,30,28,195,42,18,2entSense: -00014 Velocity Steer: 3,205,40,29,23,104,38*7A $GPGSV,3,3target current +00011 +00010 Gain: ,11,16,19,317,31,26,18,120,37,05,15,184,37*43 $GPRMC,103622.400,A,4046.008286,N,11913.672625,W,0.000,48.55,040 707,,,A*7F $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target cur$GPGGA,103rent +00011 +00009 Gain: Kp Kd Ki 622.600,4046.008286,N,11913.672625,W,+00015 +00000 +00001 mindr maxdr m1,10,0.86,1185.379,M,-20.833,M,,*6F axa dead: +00030 +00200 +00255 +00010 $GPRMC,103622.600,A,4046.008286,N,11913.672625,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +000 11 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103622.800,rentSense: -00015 Velocity Steer:4046.008285,N,11913.672625,W,1,10,0.8 target current +00011 +00009 Gain:6,1185.380,M,-20.833,M,,*64 $GPRMC,1 Kp Kd Ki +0 0015 +00000 +00001 mi03622.800,A,4046.008285,N,11913.6726ndr maxdr maxa dead: +00030 +0020025,W,0.000,48.55,040707,,,A*70 $GPVT +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +0G ,48.55,T,,M,0.000,N,0.000,K,A*01 0030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mi$GPGGA,103623.000,4046ndr maxdr maxa dead: +00030 +00200.008285,N,11913.672625,W,1,10,0.86,11 +00255 +00010 85.380,M,-20.833,M,,*6D $GPRMC,103623.000,A,4046.008285,N,11913.672625,W,0.001,48.55,040707,,,A*78 $GPVTG,48Motor1: +00000 +00000 +00000 .55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: K p Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103623.200,4046.008285,N,11913.672624,W,1,10,0.86,1185.379,M,-20.833,M,,*68 $GPRMC,103623.200,A,4046.008285,N,11913.672624,W,0.000,48.55,040707,,,A*7A $GPVTG,48Motor1: +00000 +00000 +00000 .55,T,,M,0.000,N,0.001,K,A*00 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00 000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,10362dr maxdr maxa dead: +00030 +00200 3.400,4046.008285,N,11913.672622,W,1+00255 +00010 ,10,0.86,1185.379,M,-20.833,M,,*68 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11Motor1: +00000 +00000 +00000 ,06,88,006,31,07,77,312,30,24,73,002 PID: +00008 +00010 +00004 ISav: +,20,21,50,276,37 *7E $GPGSV,3,2,11,1000000 encoderSpeed: +00000 curr,35,048,40,30,28,195,42,18,23,205,40,entSense: -00016 Velocity Steer: 29,23,104,38*7A $GPGSV,3,3,11,16,19target current +00011 +00009 Gain: ,317,31,26,18,120,37,05,15,184,37*43 Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 + 00010 $GPRMC,103623.400,A,4046.008285,N,11913.672622,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103623.600,4-00014 Velocity Steer: target cur046.008285,N,11913.672621,W,1,10,0.86rent +00011 +00009 Gain: Kp Kd Ki ,1185.378,M,- 20.833,M,,*68 $GPRMC,1+00015 +00000 +00001 mindr maxdr m03623.600,A,4046.008285,N,11913.672621,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 cur$GPGGA,103623.800,4rentSense: -00014 Velocity Steer:046.008285,N,11913.672620,W,1,10,0.86 target current +00011 +00009 Gain:,1185.377,M,-20.833,M,,*68 $GPRMC,10 Kp Kd Ki +00015 +0 0000 +00001 mi3623.800,A,4046.008285,N,11913.67262ndr maxdr maxa dead: +00030 +002000,W,0.001,48.55,040707,,,A*75 $GPVTG +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00,48.55,T,,M,0.001,N,0.001,K,A*01 030 +00200 +00255 +00010 $GPGGA,103624.000,4046.008286,N,11913.672619,W,1,10,0.86,1185.377,M,-20.833,M,,*6E $GPRMC,103624.000,A,4046.008286,N,11913.672619,W,0.001,48.55,040707,,,A*73 $GPVTGMotor1: +00000 +00000 +00000 ,48.55,T,,M,0.001,N,0.001,K,A*01 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed : +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain:$GPGGA,103624.200,4 Kp Kd Ki +00015 +00000 +00001 mi046.008285,N,11913.672618,W,1,10,0.86ndr maxdr maxa dead: +00030 +00200,1185.377,M,-20.833,M,,*6E $GPRMC,10 +00255 +00010 3624.200,A,4046.008285,N,11913.672618,W,0.000,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +000 08 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 + 00010 Gain: Kp Kd Ki +00015 +00000 +00001 min$GPGGA,10dr maxdr maxa dead: +00030 +00200 3624.400,4046.008285,N,11913.672618,W+00255 +00010 ,1,10,0.86,1185.376,M,-20.833,M,,*69 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,007,31,07,77,312,30,24,73,Motor1: +00000 +00000 +00000 002,18,21,50,276,37*74 $GPGSV,3,2,11 PID: +00008 +000 10 +00004 ISav: +,10,35,048,40,30,28,195,42,18,23,205,00000 encoderSpeed: +00000 curr40,29,23,104,38*7A $GPGSV,3,3,11,16,entSense: -00015 Velocity Steer: 19,317,31,26,18,120,37,05,15,184,37*target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +00030 +00200 +00255 +00010 43 $GPRMC,103624.400,A,4046.008285,N,11913.672618,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: $GPGGA,103624.600,40-00014 Velocity Steer: target cur46.008284,N,11913.672617,W,1,10,0.86rent +00011 +0000 9 Gain: Kp Kd Ki ,1185.376,M,-20.833,M,,*65 $GPRMC,10+00015 +00000 +00001 mindr maxdr m3624.600,A,4046.008284,N,11913.672617,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 axa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 curr$GPGGA,103624.800,4046.0entSense: -00016 Velocity Steer: 08284,N,11913.672617,W,1,10,0.86,1185target current +00011 +00011 Gain: .376,M,-20.833,M,,*6B $GPRMC,103624Kp Kd Ki +00015 +00000 +00001 min.800,A,4046.008284,N,11913.672617,W,dr maxdr maxa dead: +00030 +00200 0.000,48.55,040707,,,A*76 $GPVTG,48.+00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target c urrent +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 min55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103625.000,4046.008284,N,11913.672616,W,1,10,0.86,1185.376,M,-20.833,M,,*63 $GPRMC,103625.000,A,4046.008284,N,11913.672616,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103625.200,40Kp Kd Ki +00015 +00000 +00001 min46.008285,N,11913.672615,W,1,10,0.86,dr maxdr maxa dead: +00030 +00200 1185.376,M,-20.833,M,,*63 $GPRMC,103+00255 +00010 625.200,A,4046.008285,N,11913.672615,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Stee r: target current +00011 +00010 Gain: $GPGGA,103625.Kp Kd Ki +00015 +00000 +00001 min400,4046.008284,N,11913.672614,W,1,1dr maxdr maxa dead: +00030 +00200 0,0.86,1185.376,M,-20.833,M,,*65 $GP+00255 +00010 GSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,007,31,07,77,312,30,24,73,002,19,21,50,276, 36*74 $GPGSV,3,2,11,10,35,048,40,30,28,195,42,18,23,205,40,29,23,104,38*7A $GPGSV,3,3,11,16,19,317,31,26,18,120,37,05,15,184,37*43 $GPRMC,103625.400,A,4046.008284,N,11913.672614,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Veloc ity Steer: target current +00011 +00009 Gain: $GPGGA,103625.60Kp Kd Ki +00015 +00000 +00001 min0,4046.008283,N,11913.672613,W,1,10,0dr maxdr maxa dead: +00030 +00200 .86,1185.376,M,-20.833,M,,*67 $GPRMC+00255 +00010 ,103625.600,A,4046.008283,N,11913.672613,W,0.001,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Stee r: target current +00011 +00010 Gain: $GPGGA,103625.800,4046.00Kp Kd Ki +00015 +00000 +00001 min8283,N,11913.672611,W,1,10,0.86,1185.dr maxdr maxa dead: +00030 +00200 377,M,-20.833,M,,*6A $GPRMC,103625.+00255 +00010 800,A,4046.008283,N,11913.672611,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103626.000,4046.00Kp Kd Ki +00015 +00000 +00001 min8283,N,11913.672612,W,1,10,0.86,1185.dr maxdr maxa dead: +00030 +00200 378,M,-20.833,M,,*6D $GPRMC,103626.+00255 +00010 000,A,4046.008283,N,11913.672612,W,0.000,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: $GPGGA,103626.200,4046.00Kp Kd Ki +00015 +00000 +00001 min8283,N,11913.672612,W,1,10,0.86,1185.dr maxdr maxa dead: +00030 +00200 377,M,-20.833,M,,*60 $GPRMC,103626.+00255 +00010 200,A,4046.008283,N,11913.672612,W,0.000,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain:$GPGGA,1036 Kp Kd Ki +00015 +00000 +00001 mi26.400,4046.008284,N,11913.672612,W,1ndr maxdr maxa dead: +00030 +00200,10,0.86,1185.377,M,-20.833,M,,*61 +00255 +00010 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,007,31,07,77,312,30,24,73,00 2,21,21,50,276,36*7F $GPGSV,3,2,11,10,35,048,40,30,28,195,42,18,23,205,40,29,23,104,38*7A $GPGSV,3,3,11,16,19,317,31,26,18,120,37,05,15,184,37*43 $GPRMC,103626.400,A,4046.008284,N,11913.672612,W,0.000,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSens e: -00015 Velocity Steer: target current +00011 +00011 Gain: $GPGGA,103626.600Kp Kd Ki +00015 +00000 +00001 min,4046.008285,N,11913.672611,W,1,10,0.dr maxdr maxa dead: +00030 +00200 86,1185.375,M,-20.833,M,,*63 $GPRMC,+00255 +00010 103626.600,A,4046.008285,N,11913.672611,W,0.001,48.55,040707,,,A*7C $GPVTG,48.55,T,,M,0.001,N,0.003,K,A *03 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: tar get current +00011 +00010 Gain: $GPGGA,103626.800,4046Kp Kd Ki +00015 +00000 +00001 min.008285,N,11913.672610,W,1,10,0.86,1dr maxdr maxa dead: +00030 +00200 185.375,M,-20.833,M,,*6C $GPRMC,1036+00255 +00010 26.800,A,4046.008285,N,11913.672610,W,0.001,48.55,040707,,,A*73 $GPVTG,48.55,T,,M,0.001,N,0.002,K, A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: ta rget current +00011 +00010 Gain: $GPGGA,103627.000,4046Kp Kd Ki +00015 +00000 +00001 min.008285,N,11913.672609,W,1,10,0.86,11dr maxdr maxa dead: +00030 +00200 85.375,M,-20.833,M,,*6D $GPRMC,1036+00255 +00010 27.000,A,4046.008285,N,11913.672609,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103627.200,4046Kp Kd Ki +00015 +00000 +00001 min.008285,N,11913.672608,W,1,10,0.86,11dr maxdr maxa dead: +00030 +00200 85.375,M,-20.833,M,,*6E $GPRMC,10362+00255 +00010 7.200,A,4046.008285,N,11913.672608,W,0.000,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,10362Kp Kd Ki +00015 +00000 +00001 min7.400,4046.008285,N,11913.672607,W,1dr maxdr maxa dead: +00030 +00200 ,10,0.86,1185.373,M,-20.833,M,,*61 $+00255 +00010 GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,007,31,07,77,312,30,24,73,002,22,21,50,276,36*7C $GPGSV,3,2,11,10,35,048,40,30,28,195,42,18,23,205,40,29,23,104,38*7A $GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103627.400,A,4046.008285,N,11913.672607,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103627.600,4046.Kp Kd Ki +00015 +00000 +00001 min008285,N,11913.672608,W,1,10,0.86,11dr maxdr maxa dead: +00030 +00200 85.374,M,-20.833,M,,*6B $GPRMC,10362+00255 +00010 7.600,A,4046.008285,N,11913.672608,W,0.001,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cu rrent +00011 +00010 Gain: $GPGGA,103627.800,4046.Kp Kd Ki +00015 +00000 +00001 min008287,N,11913.672609,W,1,10,0.86,118dr maxdr maxa dead: +00030 +00200 5.374,M,-20.833,M,,*66 $GPRMC,10362+00255 +00010 7.800,A,4046.008287,N,11913.672609,W,0.002,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.002,N,0.004,K,A*07 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target cur rent +00011 +00009 Gain: $GPGGA,103628.000,4046.Kp Kd Ki +00015 +00000 +00001 min008287,N,11913.672610,W,1,10,0.86,118dr maxdr maxa dead: +00030 +00200 5.373,M,-20.833,M,,*6E $GPRMC,10362+00255 +00010 8.000,A,4046.008287,N,11913.672610,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target c urrent +00011 +00009 Gain: $GPGGA,1036Kp Kd Ki +00015 +00000 +00001 min28.200,4046.008287,N,11913.672611,W,1dr maxdr maxa dead: +00030 +00200 ,10,0.86,1185.371,M,-20.833,M,,*6F +00255 +00010 $GPRMC,103628.200,A,4046.008287,N,11913.672611,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target curre nt +00011 +00009 Gain: $GPGGA,103628Kp Kd Ki +00015 +00000 +00001 min.400,4046.008288,N,11913.672612,W,1,1dr maxdr maxa dead: +00030 +00200 0,0.86,1185.370,M,-20.833,M,,*64 $G+00255 +00010 PGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,007,31,07,77,312,30,24,73,002,22,21, 50,276,36*7C $GPGSV,3,2,11,10,35,048,40,30,28,195,42,18,23,205,41,29,23,104,38*7B $GPGSV,3,3,11,16,19,317,33,26,18,120,37,05,15,184,37*41 $GPRMC,103628.400,A,4046.008288,N,11913.672612,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103628.600,4046. 008288,N,11913.672610,W,1,10,0.86,1185.369,M,-20.833,M,,*6C $GPRMC,103628.600,A,4046.008288,N,11913.672610,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103628.800,4046.0082 89,N,11913.672609,W,1,10,0.86,1185.367,M,-20.833,M,,*65 $GPRMC,103628.800,A,4046.008289,N,11913.672609,W,0.001,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Ste er: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103629.000,4046.00829Kp Kd Ki +00015 +00000 +00001 min0,N,11913.672608,W,1,10,0.86,1185.36dr maxdr maxa dead: +00030 +00200 7,M,-20.833,M,,*65 $GPRMC,103629.00+00255 +00010 0,A,4046.008290,N,11913.672608,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103629.200,4046.0 08290,N,11913.672607,W,1,10,0.86,1185.367,M,-20.833,M,,*68 $GPRMC,103629.200,A,4046.008290,N,11913.672607,W,0.000,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Ste er: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr$GPGGA,103629.400,4046.0 08292,N,11913.672607,W,1,10,0.86,1185.365,M,-20.833,M,,*6E $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,007,31,07,77,312,30,24,73,002,Motor1: +00000 +00000 +00000 22,21,50,276,36*7C $GPGSV,3,2,11,10, PID: +00008 +00010 +00004 ISav: +35,048,40,30,28,195,42,18,23,2 05,41,200000 encoderSpeed: +00000 curr9,23,104,38*7B $GPGSV,3,3,11,16,19,entSense: -00015 Velocity Steer: 317,33,26,18,120,37,05,15,184,37*41 target current +00011 +00011 Gain: $GPRMC,103629.400,A,4046.008292,N,119Kp Kd Ki +00015 +00000 +00001 min13.672607,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.00 2,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc$GPGGA,103629.600,4046.0oderSpeed: +00000 currentSense: -08293,N,11913.672606,W,1,10,0.86,118500015 Velocity Steer: target curr.364,M,-20.833,M,,*6D $GPRMC,103629ent +00011 +00009 Gain: Kp Kd Ki +.600,A,4046.008293,N,11913.672606,W, 000015 +00000 +00001 mindr maxdr ma.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 xa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav$GPGGA,103629.800,4046.0: +00000 encoderSpeed: +00000 c08294,N,11913.672607,W,1,10,0.86,1185urrentSense: -00016 Velocity Stee.362,M,-20.833,M,,*63 $GPRMC,103629r: target current +00011 +00010 Gai.800,A,4046.0082 94,N,11913.672607,W,0n: Kp Kd Ki +00015 +00000 +00001 .000,48.55,040707,,,A*7B $GPVTG,48.5mindr maxdr maxa dead: +00030 +0025,T,,M,0.000,N,0.001,K,A*00 00 +00255 +00010 $GPGGA,103630.000,4046.008294,N,11913. 672605,W,1,10,0.86,1185.362,M,-20.833,M,,*61 $GPRMC,103630.000,A,4046.008294,N,11913.672605,W,0.000,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103630.200,4046.00Kp Kd Ki +00015 +00000 +00001 min8295,N,11913.672604,W,1,10,0.86,1185.dr maxdr maxa dead: +00030 +00200 363,M,-20.833,M,,*62 $GPRMC,103630.+00255 +00010 200,A,4046.008295,N,11913.672604,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103630.400, 4046.008296,N,11913.672603,W,1,10,0.86,1185.364,M,-20.833,M,,*67 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,008,31,07,77,312,30,24,73,002,22,21Motor1: +00000 +00000 +00000 ,50,276,36*73 $GPGSV,3,2,11,10,35,04 PID: +00008 +00010 +00004 ISav: +8,40,30,28,195,42,18,23,205,41,2 9,2300000 encoderSpeed: +00000 curr,104,38*7B $GPGSV,3,3,11,16,19,317,3entSense: -00014 Velocity Steer: 2,26,18,120,37,05,15,184,37*40 $GPRMtarget current +00011 +00009 Gain: C,103630.400,A,4046.008296,N,11913.6Kp Kd Ki +00015 +00000 +00001 min72603,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*0 1 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 enc$GPGGA,103630.600,404oderSpeed: +00000 currentSense: -6.008296,N,11913.672602,W,1,10,0.86,100014 Velocity Steer: target curr185.364,M,-20.833,M,,*64 $GPRMC,1036ent +00011 +00009 Gain: Kp Kd Ki +30.600,A,4046.008296,N,11913.672602, 00015 +00000 +00001 mindr maxdr maW,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 xa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa de ad: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav:$GPGGA,103630.800,4046.008 +00000 encoderSpeed: +00000 cu298,N,11913.672603,W,1,10,0.86,1185.3rrentSense: -00014 Velocity Steer63,M,-20.833,M,,*62 $GPRMC,103630.: target current +00011 +00010 Gain800,A,4046.008298, N,11913.672603,W,0.: Kp Kd Ki +00015 +00000 +00001 m001,48.55,040707,,,A*7A $GPVTG,48.55indr maxdr maxa dead: +00030 +0020,T,,M,0.001,N,0.001,K,A*01 0 +00255 +00010 $GPGGA,103631.000 ,4046.008299,N,11913.672603,W,1,10,0.86,1185.363,M,-20.833,M,,*6A $GPRMC,103631.000,A,4046.008299,N,11913.672603,W,0.001,48.55,040707,,,A*72 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 + 00010 Gain: $GPGGA,103631.200,Kp Kd Ki +00015 +00000 +00001 min4046.008300,N,11913.672603,W,1,10,0.8dr maxdr maxa dead: +00030 +00200 6,1185.364,M,-20.833,M,,*6E $GPRMC,+00255 +00010 103631.200,A,4046.008300,N,11913.672603,W,0.001,48.55,040707,,,A*71 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,1 03631.400,4046.008301,N,11913.672601,W,1,10,0.86,1185.365,M,-20.833,M,,*6A $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,008,31,07,77,312,30,24,73,002,22,21,50,276,36*73 $GPGSV,3,2,11,10,35,048,40,30,28,195,42,18,23,205,41,29,23,104,37*74 $GPGSV,3,3,11,16,19,317 ,32,26,18,120,37,05,15,184,37*40 $GPRMC,103631.400,A,4046.008301,N,11913.672601,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103631.600,4046Kp Kd Ki +00015 +00000 +00001 min.008302,N,11913.672599,W,1,10,0.86,11dr maxdr maxa dead: +00030 +00200 85.365,M,-20.833,M,,*69 $GPRMC,10363+00255 +00010 1.600,A,4046.008302,N,11913.672599,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103631.800,4046.008302,N,11913.672597,W,1,10, 0.86,1185.366,M,-20.833,M,,*6A $GPRMC,103631.800,A,4046.008302,N,11913.672597,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target curren t +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103632.000, 4046.008302,N,11913.672595,W,1,10,0.86,1185.368,M,-20.833,M,,*6D $GPRMC,103632.000,A,4046.008302,N,11913.672595,W,0.001,48855,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: targe t current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: $GPGGA,103632.2Kp Kd Ki +00015 +00000 +00001 min00,4046.008304,N,11913.672595,W,1,11dr maxdr maxa dead: +00030 +00200 ,0.86,1185.367,M,-20.833,M,,*67 $GPR+00255 +00010 MC,103632.200,A,4046.008304,N,11913.672595,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encode rSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPG GA,103632.400,4046.008305,N,11913.672595,W,1,11,0.86,1185.366,M,-20.833,M,,*61 $GPGSA,A,3,10,16,18,21,30,07,24,26,29,05,06,,1.52,0.86,1.25*0E $GPGSV,3,1,11,06,88,008,31,07,77,312,30,Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +24,73,002,24,21,50,276,36*75 $GPGSV,3,2,11,10,35,048,40,30,28,195,42,18,00 000 encoderSpeed: +00000 curr23,205,41,29,23,104,37*74 $GPGSV,3,3entSense: -00014 Velocity Steer: ,11,16,19,317,32,26,18,120,37,05,15,target current +00011 +00011 Gain: 184,37*40 $GPRMC,103632.400,A,4046.Kp Kd Ki +00015 +00000 +00001 min008305,N,11913.672595,W,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.0 02,K,A*02 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 en$GPGGA,103632.600,4046.coderSpeed: +00000 currentSense: 008307,N,11913.672595,W,1,10,0.86,118-00014 Velocity Steer: target cur5.365,M,-20.833,M,,*63 $GPRMC,10363rent +00011 +00009 Gain: Kp Kd Ki 2.600,A ,4046.008307,N,11913.672595,W+00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,0.001,48.55,040707,,,A*7D $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103632.800,4046.008300000 encoderSpeed: +00000 cur08,N,11913.672595,W,1,10,0.86,1185.36rentSense: -00016 Velocity Steer:4,M,-20.833,M,,*63 $GPRMC,103632.80 target current +00011 +00009 Gain:0,A,4046.008308,N,11913.672595,W,0.00 Kp Kd Ki +00 015 +00000 +00001 mi1,48.55,040707,,,A*7C $GPVTG,48.55,Tndr maxdr maxa dead: +00030 +00200,,M,0.001,N,0.003,K,A*03 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd K i +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103633.000,4046.008309,N,11913.672595,W,1,10,0.86,1185.365,M,-20.833,M,,*6A $GPRMC,103633.000,A,4046.008309,N,11913.672595,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200$GPGGA,103633.200,4046.0083 10,N,11913.672593,W,1,10,0.86,1185.367,M,-20.833,M,,*64 $GPRMC,103633.200,A,4046.008310,N,11913.672593,W,0.001,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103633.400 ,4046.008310,N,11913.672592,W,1,10,0.86,1185.368,M,-20.833,M,,*6C $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,008,31,07,77,312,30,24,73,002,24,21,50,276,36*75 $GPGSV,3,2,11,10,35,0Motor1: +00000 +00000 +00000 48,39,30,28,195,42,18,23,205,41,29,2 PID: +00008 +00010 +00004 ISav: +3,104,37*7 A $GPGSV,3,3,11,16,19,317,00000 encoderSpeed: +00000 curr32,26,18,120,37,05,15,184,37*40 $GPRentSense: -00014 Velocity Steer: MC,103633.400,A,4046.008310,N,11913.6target current +00011 +00009 Gain: 72592,W,0.001,48.55,040707,,,A*7F $Kp Kd Ki +00015 +00000 +00001 miGPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 ndr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +000$GPGGA,10363308 +00010 +00004 ISav: +00000 en.600,4046.008312,N,11913.672592,W,1,coderSpeed: +00000 currentSense: 11,0.86,1185.367,M,-20.833,M,,*62 $G-00014 Velocity Steer: target curPRMC,103633.600,A,4046.008312,N,11913rent +00 011 +00010 Gain: Kp Kd Ki .672592,W,0.001,48.55,040707,,,A*7F $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: $GPGGA,103633.80+00000 encoderSpeed: +00000 cur0,4046.008315,N,11913.672593,W,1,11,0rentSense: -00015 Velocity Steer: target current +00011 +00011 Gain:.86,1185.365,M,-20.833,M,,*68 $GPRMC,103633.800,A,4046.008315,N,11913.67 Kp Kd Ki +00015 +00000 +00001 mi2593,W,0.001,48.55,040707,,,A*77 $Gndr maxdr maxa dead: +00030 +00200PVTG,48.55,T,,M,0.001,N,0.002,K,A*02 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp K d Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103634.000,4046.008317,N,11913.672593,W,1,11,0.86,1185.362,M,-20.833,M,,*62 $GPRMC,103634.000,A,4046.008317,N,11913.672593,W,0.001,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA,103 634.200,4046.008318,N,11913.672593,W,1,11,0.86,1185.361,M,-20.833,M,,*6C $GPRMC,103634.200,A,4046.008318,N,11913.672593,W,0.001,48.55,040707,,,A*77 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 $GPGGA ,103634.400,4046.008319,N,11913.672593,W,1,11,0.86,1185.361,M,-20.833,M,,*6B $GPGSA,A,3,10,16,18,21,30,07,24,26,29,05,06,,1.52,0.86,1.25*0E $GPGSV,3,1,11,06,88,008,31,07,77,312,31,24,73,002,24,21,50,276,36*74 $GPGSV,3Motor1: +00000 +00000 +00000 ,2,11,10,35,048,39,30,28,195,42,18,2PID: +00008 +00010 +00004 ISav: +3,205,41,29 ,23,104,37*7A $GPGSV,3,3,00000 encoderSpeed: +00000 curr11,16,19,317,32,26,18,120,37,05,15,18entSense: -00016 Velocity Steer: 4,37*40 $GPRMC,103634.400,A,4046.00target current +00011 +00010 Gain: 8319,N,11913.672593,W,0.000,48.55,040Kp Kd Ki +00015 +00000 +00001 min707,,,A*71 $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 dr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +000$GPGGA,103634.08 +00010 +00004 ISav: +00000 en600,4046.008319,N,11913.672591,W,1,1coderSpeed: +00000 currentSense: 1,0.86,1185.361,M,-20.833,M,,*6B $GP-00015 Velocity Steer: target curRMC,103634.600,A,4046.008319,N,11913.rent +00011 +00 009 Gain: Kp Kd Ki 672591,W,0.001,48.55,040707,,,A*70 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +$GPGGA,103634.80000000 encoderSpeed: +00000 curr,4046.008320,N,11913.672590,W,1,11,0.entSense: -00016 Velocity Steer: 86,1185.362,M,-20.833,M,,*6D $GPRMCtarget current +00011 +00010 Gain: ,103634.800,A,4046.008320,N,11913.672Kp Kd Ki +00015 +00000 + 00001 min590,W,0.001,48.55,040707,,,A*75 $GPdr maxdr maxa dead: +00030 +00200 +00255 +00010 VTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: target current +00011 +00009 G ain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103635.000,4046.008321,N,11913.672588,W,1,11,0.86,1185.362,M,-20.833,M,,*6C $GPRMC,103635.000,A,4046.008321,N,11913.672588,W,0.001,48.55,040707,,,A*74 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GP GGA,103635.200target current +00011 +00009 Gain: ,4046.008322,N,11913.672587,W,1,11,0.Kp Kd Ki +00015 +00000 +00001 min86,1185.362,M,-20.833,M,,*62 $GPRMC,dr maxdr maxa dead: +00030 +00200 103635.200,A,4046.008322,N,11913.6725+00255 +00010 87,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer:$GPG GA, target current +00011 +00009 Gain:103635.400,4046.008322,N,11913.672585 Kp Kd Ki +00015 +00000 +00001 mi,W,1,11,0.86,1185.362,M,-20.833,M,,*ndr maxdr maxa dead: +00030 +0020066 $GPGSA,A,3,10,16,18,21,30,07,24,2 +00255 +00010 6,29,05,06,,1.52,0.86,1.25*0E $GPGSV,3,1,11,06,88,008,31,07,77,312,31,24,73,002,2 5,21,50,276,36*75 $GPGSV,3,2,11,10,35,048,39,30,28,195,42,18,23,205,41,29,23,104,37*7A $GPGSV,3,3,11,16,19,317,32,26,18,120,37,05,15,184,37*40 $GPRMC,103635.400,A,4046.008322,N,11913.672585,W,0.001,48.55,040707,,,A*7E $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 $GPGGA,103635.600,4046.008325,N,11913.672584,W,1,11 ,0.86,1185.361,M,-20.833,M,,*61 $GPRMC,103635.600,A,4046.008325,N,11913.672584,W,0.002,48.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00013 Velocity Steer: targ et current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,1 03635.800target current +00011 +00010 Gain: ,4046.008327,N,11913.672584,W,1,11,0.Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 86,1185.362,M,-20.833,M,,*6E $GPRMC,103635.800,A,4046.008327,N,11913.6725+00255 +00010 84,W,0.002,48.55,040707,,,A*75 $GPVTG,48.55,T,,M,0.002,N,0.005,K,A*06 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00010 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: $GPGGA,1 03636.000,4046.008330,target current +00011 +00009 Gain: N,11913.672585,W,1,10,0.86,1185.362,Kp Kd Ki +00015 +00000 +00001 minM,-20.833,M,,*63 $GPRMC,103636.000,Adr maxdr maxa dead: +00030 +00200 ,4046.008330,N,11913.672585,W,0.002,4+00255 +00010 8.55,040707,,,A*79 $GPVTG,48.55,T,,M,0.002,N,0.003,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00016 Velocity Steer: $GPGGA, 103636.200,target current +00011 +00010 Gain: 4046.008332,N,11913.672584,W,1,11,0.8Kp Kd Ki +00015 +00000 +00001 min6,1185.362,M,-20.833,M,,*63 $GPRMC,1dr maxdr maxa dead: +00030 +00200 03636.200,A,4046.008332,N,11913.6725+00255 +00010 84,W,0.000,48.55,040707,,,A*7A $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav : +00000 encoderSpeed: +00000 currentSense: -00014 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: t$GPGGA, 1arget current +00011 +00010 Gain: 03636.400,4046.008332,N,11913.672583,Kp Kd Ki +00015 +00000 +00001 minW,1,11,0.86,1185.363,M,-20.833,M,,*6dr maxdr maxa dead: +00030 +00200 3 $GPGSA,A,3,10,16,18,21,30,07,24,26+00255 +00010 ,29,05,06,,1.52,0.86,1.25*0E $GPGSV,3,1,11,06,88,009,31,07,77,312,31,24,73,002,25,21,50,276,36*74 $GPGSV,3,Motor1: +00000 +00000 +00000 2,11,1 0,35,048,39,30,28,195,42,18,23, PID: +00008 +00010 +00004 ISav: +205,41,29,23,104,37*7A $GPGSV,3,3,1100000 encoderSpeed: +00000 curr,16,19,317,32,26,18,120,37,05,15,184entSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 ,37*40 $GPRMC,103636.400,A,4046.008332,N,11913.672583,W,0.000,48.55,040707,,,A*7B $GPVTG,48.55,T,,M,0.000,N,0.001,K,A*00 $GPGGA,103636.600,4046.008332,N,11913.672582,W,1,11,0.86,1185.363,M,-20.833,M,,*60 $GPRMC,103636.600,A,4046.008332,N,11913.672582,W,0.001,48.55,040707,,,A*79 $GPVTG,48.5 5,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103 636.800,4046.008333,Ntarget current +00011 +00009 Gain: ,11913.672581,W,1,10,0.86,1185.362,MKp Kd Ki +00015 +00000 +00001 min,-20.833,M,,*6C $GPRMC,103636.800,A,dr maxdr maxa dead: +00030 +00200 4046.008333,N,11913.672581,W,0.001,48+00255 +00010 .55,040707,,,A*75 $GPVTG,48.55,T,,M,0.001,N,0.001,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00009 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103637. 000,4046.008333,Ntarget current +00011 +00009 Gain: ,11913.672579,W,1,10,0.86,1185.363,MKp Kd Ki +00015 +00000 +00001 min,-20.833,M,,*63 $GPRMC,103637.000,A,dr maxdr maxa dead: +00030 +00200 4046.008333,N,11913.672579,W,0.001,48+00255 +00010 .55,040707,,,A*7B $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +0 0000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00008 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: $GPGGA,103637 .200,4046.008334,Ntarget current +00011 +00009 Gain: ,11913.672580,W,1,10,0.86,1185.364,MKp Kd Ki +00015 +00000 +00001 min,-20.833,M,,*67 $GPRMC,103637.200,A,dr maxdr maxa dead: +00030 +00200 4046.008334,N,11913.672580,W,0.001,48+00255 +00010 .55,040707,,,A*78 $GPVTG,48.55,T,,M,0.001,N,0.002,K,A*02 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: + 00000 encoderSpeed: +00000 currentSense: -00015 Velocity Steer: target current +00011 +00011 Gain: Kp Kd Ki +00015 +00000 +00001 mindr maxdr maxa dead: +00030 +00200 +00255 +00010 $GPGGA,103637.400,40 46.008335,N,11913.672579,W,1,10,0.86,1185.365,M,-20.833,M,,*67 $GPGSA,A,3,10,16,18,21,30,07,26,29,05,06,,,1.60,0.86,1.35*08 $GPGSV,3,1,11,06,88,009,31,07,77,312,31,24,73,002,25,21,50,276,37*75 $GPGSV,3,2,11,10,35,048,39,30,28,195,42,18,23,205,41,29,23,104,37*7A $GPGSV,3,3,11,16,19,3 17,31,26,18,120,37,05,15,184,37*43 $GPRMC,103637.400,A,4046.008335,N,11913.672579,W,0.000,48.55,040707,,,A*78 $GPVTG,48.55,T,,M,0.000,N,0.000,K,A*01 Motor1: +00000 +00000 +00000 PID: +00008 +00010 +00004 ISav: +00000 encoderSpeed: +00000 current