/*
 * This function performs synchronization with base station
 *
*/
void report_base()
{
   
   
   fprintf(BASESTREAM,"$DH:%f$WD:%f$MD:%c$ST:%c$TME:%s$LAT:%1.6f$LON:%1.6f$SOG:%f$HDG:%f$A1:%u$A2:%u\r\n",hCONTROL.desired,WAYPOINTS.distance,PARAMS.mode,GPS.status,GPS.time,GPS.lat,GPS.lon,GPS.sog,COMPASS.heading,ROBO.amps1,ROBO.amps2);
   //debug
   //fprintf(BASESTREAM,"$LT:%f$LN:%f$DH:%f$WD:%f$MD:%c$ST:%c$TME:%s$LAT:%1.6f$LON:%1.6f$SOG:%f$HDG:%f$A1:%u$A2:%u\r\n",WAYPOINTS.point[WAYPOINTS.current].lat,WAYPOINTS.point[WAYPOINTS.current].lon,hCONTROL.desired,WAYPOINTS.distance,PARAMS.mode,GPS.status,GPS.time,GPS.lat,GPS.lon,GPS.sog,COMPASS.heading,ROBO.amps1,ROBO.amps2);

}