RT      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone9Calculate CCITT 16-bit Cyclical Redundancy Check (CRC16).)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" <Packet structure for Swift Navigation Binary Protocol (SBP).GDefinition of the over-the-wire message framing format and packet structure for Swift Navigation Binary Protocol (SBP), a minimal binary protocol for communicating with Swift devices. It is used to transmit solutions, observations, status and debugging messages, as well as receive messages from the host operating system.4Uniquely identifies the type of the payload contentsyA unique identifier of the sending hardware. For v1.0, set to the 2 least significant bytes of the device serial number Byte-length of the payload fieldBinary data of the message, as identified by Message Type and Length. Usually contains the in-memory binary representation of a C struct (see documentation on individual message types) Cyclic Redundancy Check (CRC) of the packet's binary data from the Message Type up to the end of Payload (does not include the Preamble) ?Denotes the start of frame transmission. For v1.0, always 0x55. KDefault sender ID. Intended for messages sent from the host to the device. UClass of generic representation of specialized SBP messages into SBP message frames. rConvert an SBP message record that is serializable and a two-byte senderID to a binary into an SBP message frame.     )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone]Derive ToSBP typeclass, given an SBP message type name and the name of the implemented type.)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" <SBP class for message MSG_BOOTLOADER_HANDSHAKE_REQ (0x00B3).The handshake message request from the host establishes a handshake between the device bootloader and the host. The response from the device is MSG_BOOTLOADER_HANDSHAKE_RESP.=SBP class for message MSG_BOOTLOADER_HANDSHAKE_RESP (0x00B4). The handshake message response from the device establishes a handshake between the device bootloader and the host. The request from the host is MSG_BOOTLOADER_HANDSHAKE_REQ. The payload contains the bootloader version number and the SBP protocol version number.Bootloader flagsBootloader version number:SBP class for message MSG_BOOTLOADER_JUMP_TO_APP (0x00B1).=The host initiates the bootloader to jump to the application. Ignored by the device$6SBP class for message MSG_NAP_DEVICE_DNA_REQ (0x00DE).ZThe device message from the host reads a unique device identifier from the SwiftNAP, an FPGA. The host requests the ID by sending a MSG_NAP_DEVICE_DNA_REQ message. The device responds with a MSG_NAP_DEVICE_DNA_RESP message with the device ID in the payload. Note that this ID is tied to the FPGA, and not related to the Piksi's serial number.(7SBP class for message MSG_NAP_DEVICE_DNA_RESP (0x00DD).]The device message from the host reads a unique device identifier from the SwiftNAP, an FPGA. The host requests the ID by sending a MSG_NAP_DEVICE_DNA_REQ message. The device responds with a MSG_NAP_DEVICE_DNA_RESP messagage with the device ID in the payload. Note that this ID is tied to the FPGA, and not related to the Piksi's serial number.*G57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right.,>SBP class for message MSG_BOOTLOADER_HANDSHAKE_DEP_A (0x00B0). Deprecated..+Version number string (not NULL terminated). !"#$%&'()*+,-./01 !"#$%&'()*+,-./01# !"#$%&'()*+,-./01)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"2-SBP class for message MSG_EXT_EVENT (0x0101).yReports detection of an external event, the GPS time it occurred, which pin it was and whether it was rising or falling.4GPS week number53GPS time of week rounded to the nearest millisecond6ONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)7Flags8Pin number. 0..9 = DEBUG0..9.23456789:;<=> 23456789:;<=> 23456789:;<=>)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"?3SBP class for message MSG_FILEIO_READ_REQ (0x00A8).The file read message reads a certain length (up to 255 bytes) from a given offset into a file, and returns the data in a MSG_FILEIO_READ_RESP message where the message length field indicates how many bytes were succesfully read.The sequence number in the request will be returned in the response. If the message is invalid, a followup MSG_PRINT message will print "Invalid fileio read message". A device will only respond to this message when it is received from sender ID 0x42.ARead sequence numberB File offsetCChunk size to readDName of the file to read fromF4SBP class for message MSG_FILEIO_READ_RESP (0x00A3).The file read message reads a certain length (up to 255 bytes) from a given offset into a file, and returns the data in a message where the message length field indicates how many bytes were succesfully read. The sequence number in the response is preserved from the request.HRead sequence numberIContents of read fileO7SBP class for message MSG_FILEIO_READ_DIR_REQ (0x00A9).MThe read directory message lists the files in a directory on the device's onboard flash file system. The offset parameter can be used to skip the first n elements of the file list. Returns a MSG_FILEIO_READ_DIR_RESP message containing the directory listings as a NULL delimited list. The listing is chunked over multiple SBP packets. The sequence number in the request will be returned in the response. If message is invalid, a followup MSG_PRINT message will print "Invalid fileio read message". A device will only respond to this message when it is received from sender ID 0x42.QRead sequence numberR8The offset to skip the first n elements of the file listSName of the directory to listW8SBP class for message MSG_FILEIO_READ_DIR_RESP (0x00AA).tThe read directory message lists the files in a directory on the device's onboard flash file system. Message contains the directory listings as a NULL delimited list. The listing is chunked over multiple SBP packets and the end of the list is identified by an entry containing just the character 0xFF. The sequence number in the response is preserved from the request.YRead sequence numberZContents of read directory_1SBP class for message MSG_FILEIO_REMOVE (0x00AC).The file remove message deletes a file from the file system. If the message is invalid, a followup MSG_PRINT message will print "Invalid fileio remove message". A device will only process this message when it is received from sender ID 0x42.aName of the file to deletee4SBP class for message MSG_FILEIO_WRITE_REQ (0x00AD).The file write message writes a certain length (up to 255 bytes) of data to a file at a given offset. Returns a copy of the original MSG_FILEIO_WRITE_RESP message to check integrity of the write. The sequence number in the request will be returned in the response. If message is invalid, a followup MSG_PRINT message will print "Invalid fileio write message". A device will only process this message when it is received from sender ID 0x42.gWrite sequence numberh7Offset into the file at which to start writing in bytesiName of the file to write toj&Variable-length array of data to writem5SBP class for message MSG_FILEIO_WRITE_RESP (0x00AB).The file write message writes a certain length (up to 255 bytes) of data to a file at a given offset. The message is a copy of the original MSG_FILEIO_WRITE_REQ message to check integrity of the write. The sequence number in the response is preserved from the request.oWrite sequence numberL?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstu7?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstu4?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstu )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"v1SBP class for message MSG_FLASH_PROGRAM (0x00E6).bThe flash program message programs a set of addresses of either the STM or M25 flash. The device replies with either a MSG_FLASH_DONE message containing the return code FLASH_OK (0) on success, or FLASH_INVALID_LEN (2) if the maximum write size is exceeded. Note that the sector-containing addresses must be erased before addresses can be programmed.x Target flagsy"Starting address offset to programzHLength of set of addresses to program, counting up from starting address{6Data to program addresses with, with length N=addr_len}.SBP class for message MSG_FLASH_DONE (0x00E0).This message defines success or failure codes for a variety of flash memory requests from the host to the device. Flash read and write messages, such as MSG_FLASH_READ_REQ, or MSG_FLASH_PROGRAM, may return this message on failure.Response flags2SBP class for message MSG_FLASH_READ_REQ (0x00E7).yThe flash read message reads a set of addresses of either the STM or M25 onboard flash. The device replies with a MSG_FLASH_READ_RESP message containing either the read data on success or a MSG_FLASH_DONE message containing the return code FLASH_INVALID_LEN (2) if the maximum read size is exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed range. Target flags$Starting address offset to read fromELength of set of addresses to read, counting up from starting address3SBP class for message MSG_FLASH_READ_RESP (0x00E1).yThe flash read message reads a set of addresses of either the STM or M25 onboard flash. The device replies with a MSG_FLASH_READ_RESP message containing either the read data on success or a MSG_FLASH_DONE message containing the return code FLASH_INVALID_LEN (2) if the maximum read size is exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed range. Target flags$Starting address offset to read fromELength of set of addresses to read, counting up from starting address/SBP class for message MSG_FLASH_ERASE (0x00E2).The flash erase message from the host erases a sector of either the STM or M25 onboard flash memory. The device will reply with a MSG_FLASH_DONE message containing the return code - FLASH_OK (0) on success or FLASH_INVALID_FLASH (1) if the flash specified is invalid. Target flagsAFlash sector number to erase (0-11 for the STM, 0-15 for the M25)9SBP class for message MSG_STM_FLASH_LOCK_SECTOR (0x00E3).qThe flash lock message locks a sector of the STM flash memory. The device replies with a MSG_FLASH_DONE message.Flash sector number to lock;SBP class for message MSG_STM_FLASH_UNLOCK_SECTOR (0x00E4).uThe flash unlock message unlocks a sector of the STM flash memory. The device replies with a MSG_FLASH_DONE message.Flash sector number to unlock5SBP class for message MSG_STM_UNIQUE_ID_REQ (0x00E8).This message reads the device's hardcoded unique ID. The host requests the ID by sending a MSG_STM_UNIQUE_ID_REQ. The device responds with a MSG_STM_UNIQUE_ID_RESP with the 12-byte unique ID in the payload.6SBP class for message MSG_STM_UNIQUE_ID_RESP (0x00E5).This message reads the device's hardcoded unique ID. The host requests the ID by sending a MSG_STM_UNIQUE_ID_REQ. The device responds with a MSG_STM_UNIQUE_ID_RESP with the 12-byte unique ID in the payload..Device unique ID:SBP class for message MSG_M25_FLASH_WRITE_STATUS (0x00F3).zThe flash status message writes to the 8-bit M25 flash status register. The device replies with a MSG_FLASH_DONE message..Byte to write to the M25 flash status register^vwxyz{|}~@vwxyz{|}~Cvwxyz{|}~ )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" GnssSignal16.JSignal identifier containing constellation, band, and satellite identifier+Constellation-specific satellite identifier#Signal constellation, band and code GnssSignal.JSignal identifier containing constellation, band, and satellite identifierConstellation-specific satellite identifier. Note: unlike GnssSignal16, GPS satellites are encoded as (PRN - 1). Other constellations do not have this offset.#Signal constellation, band and codeReservedGPSTime.A wire-appropriate GPS time, defined as the number of milliseconds since beginning of the week on the Saturday/Sunday transition.$Milliseconds since start of GPS weekGPS week number GPSTimeSec.lA GPS time, defined as the number of seconds since beginning of the week on the Saturday/Sunday transition.Seconds since start of GPS weekGPS week number GPSTimeNano.A wire-appropriate receiver clock time, defined as the time since the beginning of the week on the Saturday/Sunday transition. In most cases, observations are epoch aligned so ns field will be 0.$Milliseconds since start of GPS weekONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)GPS week number CarrierPhase.Carrier phase measurement in cycles represented as a 40-bit fixed point number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of fractional cycles. This phase has the same sign as the pseudorange.Carrier phase whole cyclesCarrier phase fractional part4    (     )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!".SBP class for message MSG_ACQ_RESULT (0x001F). This message describes the results from an attempted GPS signal acquisition search for a satellite PRN over a code phase/carrier frequency range. It contains the parameters of the point in the acquisition search space with the best carrier-to-noise (CN/0) ratio.CN/0 of best pointCode phase of best pointCarrier frequency of best point/GNSS signal for which acquisition was attempted4SBP class for message MSG_ACQ_RESULT_DEP_B (0x0014). Deprecated.ySNR of best point. Currently in arbitrary SNR points, but will be in units of dB Hz in a later revision of this message.Code phase of best pointCarrier frequency of best point/GNSS signal for which acquisition was attempted4SBP class for message MSG_ACQ_RESULT_DEP_A (0x0015). Deprecated.iSNR of best point. Currently dimensonless, but will have units of dB Hz in the revision of this message.Code phase of best pointCarrier frequency of best pointMPRN-1 identifier of the satellite signal for which acquisition was attempted AcqSvProfile.Profile for a specific SV for debugging purposes The message describes SV profile during acquisition time. The message is used to debug and measure the performance.(SV search job type (deep, fallback, etc)-Acquisition status 1 is Success, 0 is Failure#CN0 value. Only valid if status is '1'Acquisition integration time/GNSS signal for which acquisition was attemptedAcq frequency bin width#Timestamp of the job complete event!Time spent to search for sid.codeDoppler range lowest frequencyDoppler range highest frequency8Doppler value of detected peak. Only valid if status is '1'4Codephase of detected peak. Only valid if status is '1' 2SBP class for message MSG_ACQ_SV_PROFILE (0x001E).yThe message describes all SV profiles during acquisition time. The message is used to debug and measure the performance.#SV profiles during acquisition timeN      @     0        )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" +SBP class for message MSG_IMU_RAW (0x0900).^Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. ^Milliseconds since start of GPS week. If the high bit is set, the time is unknown or invalid.!5Milliseconds since start of GPS week, fractional part"%Acceleration in the body frame X axis#%Acceleration in the body frame Y axis$%Acceleration in the body frame Z axis%)Angular rate around the body frame X axis&)Angular rate around the body frame Y axis')Angular rate around the body frame Z axis)+SBP class for message MSG_IMU_AUX (0x0901).1Auxiliary data specific to a particular IMU. The imu_typen field will always be consistent but the rest of the payload is device specific and depends on the value of imu_type.+IMU type,Raw IMU temperature-IMU configuration" !"#$%&'()*+,-./0123456 789 !"#$%&'()*+,-./0123456789  !"#$%&'()*+,-./0123456 789 )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" :'SBP class for message MSG_LOG (0x0401).This message contains a human-readable payload string from the device containing errors, warnings and informational messages at ERROR, WARNING, DEBUG, INFO logging levels.< Logging level=Human-readable string?'SBP class for message MSG_FWD (0x0402).This message provides the ability to forward messages over SBP. This may take the form of wrapping up SBP messages received by Piksi for logging purposes or wrapping another protocol with SBP. The source identifier indicates from what interface a forwarded stream derived. The protocol identifier identifies what the expected protocol the forwarded msg contains. Protocol 0 represents SBP and the remaining values are implementation defined.Asource identifierBprotocol identifierC&variable length wrapped binary messageG)SBP class for message MSG_TWEET (0x0012).All the news fit to tweet.IHuman-readable stringN-SBP class for message MSG_PRINT_DEP (0x0010). Deprecated.PHuman-readable string&:;<=>!"#?@ABCDEF$%&GHIJKLM'()NOPQR*+,S:;<=>?@ABCDEFGHIJKLMNOPQRS:;<=>!"#?@ABCDEF$%&GHIJKLM'()NOPQR*+,S)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"T,SBP class for message MSG_GPS_TIME (0x0102).This message reports the GPS time, representing the time since the GPS epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 began at the beginning of the GPS time scale. Within each week number, the GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap seconds, and as of now, has a small offset from UTC. In a message stream, this message precedes a set of other navigation messages referenced to the same time (but lacking the ns field) and indicates a more precise time of these messages.VGPS week numberW3GPS time of week rounded to the nearest millisecondXONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)YStatus flags (reserved)[,SBP class for message MSG_UTC_TIME (0x0103).This message reports the Universal Coordinated Time (UTC). Note the flags which indicate the source of the UTC offset value and source of the time fix.]"Indicates source and time validity^3GPS time of week rounded to the nearest millisecond_Year`Month (range 1 .. 12)adays in the month (range 1-31)bhours of day (range 0-23)cminutes of hour (range 0-59)d+seconds of minute (range 0-60) rounded downe)nanoseconds of second (range 0-999999999)k(SBP class for message MSG_DOPS (0x0208).This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision. The flags field indicated whether the DOP reported corresponds to differential or SPP solution.mGPS Time of WeeknGeometric Dilution of PrecisionoPosition Dilution of PrecisionpTime Dilution of Precisionq Horizontal Dilution of PrecisionrVertical Dilution of PrecisionsGIndicates the position solution with which the DOPS message corresponds~,SBP class for message MSG_POS_ECEF (0x0209).The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).GPS Time of WeekECEF X coordinateECEF Y coordinateECEF Z coordinatePosition accuracy estimate.%Number of satellites used in solution Status flags+SBP class for message MSG_POS_LLH (0x020A).This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).GPS Time of WeekLatitude LongitudeHeight above WGS84 ellipsoid&Horizontal position accuracy estimate.$Vertical position accuracy estimate.&Number of satellites used in solution. Status flags1SBP class for message MSG_BASELINE_ECEF (0x020B).This message reports the baseline solution in Earth Centered Earth Fixed (ECEF) coordinates. This baseline is the relative vector distance from the base station to the rover receiver. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).GPS Time of WeekBaseline ECEF X coordinateBaseline ECEF Y coordinateBaseline ECEF Z coordinatePosition accuracy estimate%Number of satellites used in solution Status flags0SBP class for message MSG_BASELINE_NED (0x020C).~This message reports the baseline solution in North East Down (NED) coordinates. This baseline is the relative vector distance from the base station to the rover receiver, and NED coordinate system is defined at the local WGS84 tangent plane centered at the base station position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- week (tow).GPS Time of WeekBaseline North coordinateBaseline East coordinateBaseline Down coordinate%Horizontal position accuracy estimate#Vertical position accuracy estimate%Number of satellites used in solution Status flags,SBP class for message MSG_VEL_ECEF (0x020D).This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).GPS Time of WeekVelocity ECEF X coordinateVelocity ECEF Y coordinateVelocity ECEF Z coordinateVelocity accuracy estimate%Number of satellites used in solution Status flags+SBP class for message MSG_VEL_NED (0x020E).This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).GPS Time of WeekVelocity North coordinateVelocity East coordinateVelocity Down coordinate%Horizontal velocity accuracy estimate#Vertical velocity accuracy estimate%Number of satellites used in solution Status flags4SBP class for message MSG_BASELINE_HEADING (0x020F)."This message reports the baseline heading pointing from the base station to the rover relative to True North. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). It is intended that time-matched RTK mode is used when the base station is moving.GPS Time of WeekHeading%Number of satellites used in solution Status flags3SBP class for message MSG_AGE_CORRECTIONS (0x0210).[This message reports the Age of the corrections used for the current Differential solutionGPS Time of Week1Age of the corrections (0xFFFF indicates invalid)2SBP class for message MSG_GPS_TIME_DEP_A (0x0100).This message reports the GPS time, representing the time since the GPS epoch began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 began at the beginning of the GPS time scale. Within each week number, the GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). Note that GPS time does not accumulate leap seconds, and as of now, has a small offset from UTC. In a message stream, this message precedes a set of other navigation messages referenced to the same time (but lacking the ns field) and indicates a more precise time of these messages.GPS week number3GPS time of week rounded to the nearest millisecondONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)Status flags (reserved) .SBP class for message MSG_DOPS_DEP_A (0x0206).This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision. GPS Time of Week Geometric Dilution of PrecisionPosition Dilution of PrecisionTime Dilution of Precision Horizontal Dilution of PrecisionVertical Dilution of Precision2SBP class for message MSG_POS_ECEF_DEP_A (0x0200).The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).GPS Time of WeekECEF X coordinateECEF Y coordinateECEF Z coordinate<Position accuracy estimate (not implemented). Defaults to 0.%Number of satellites used in solution Status flags'1SBP class for message MSG_POS_LLH_DEP_A (0x0201).This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).)GPS Time of Week*Latitude+ Longitude,Height-GHorizontal position accuracy estimate (not implemented). Defaults to 0..EVertical position accuracy estimate (not implemented). Defaults to 0./&Number of satellites used in solution.0 Status flags97SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202).This message reports the baseline solution in Earth Centered Earth Fixed (ECEF) coordinates. This baseline is the relative vector distance from the base station to the rover receiver. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).;GPS Time of Week<Baseline ECEF X coordinate=Baseline ECEF Y coordinate>Baseline ECEF Z coordinate?Position accuracy estimate@%Number of satellites used in solutionA Status flagsK6SBP class for message MSG_BASELINE_NED_DEP_A (0x0203).~This message reports the baseline solution in North East Down (NED) coordinates. This baseline is the relative vector distance from the base station to the rover receiver, and NED coordinate system is defined at the local WGS84 tangent plane centered at the base station position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- week (tow).MGPS Time of WeekNBaseline North coordinateOBaseline East coordinatePBaseline Down coordinateQGHorizontal position accuracy estimate (not implemented). Defaults to 0.REVertical position accuracy estimate (not implemented). Defaults to 0.S%Number of satellites used in solutionT Status flags]2SBP class for message MSG_VEL_ECEF_DEP_A (0x0204).This message reports the velocity in Earth Centered Earth Fixed (ECEF) coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow)._GPS Time of Week`Velocity ECEF X coordinateaVelocity ECEF Y coordinatebVelocity ECEF Z coordinatec<Velocity accuracy estimate (not implemented). Defaults to 0.d%Number of satellites used in solutioneStatus flags (reserved)o1SBP class for message MSG_VEL_NED_DEP_A (0x0205).This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).qGPS Time of WeekrVelocity North coordinatesVelocity East coordinatetVelocity Down coordinateuGHorizontal velocity accuracy estimate (not implemented). Defaults to 0.vEVertical velocity accuracy estimate (not implemented). Defaults to 0.w%Number of satellites used in solutionxStatus flags (reserved):SBP class for message MSG_BASELINE_HEADING_DEP_A (0x0207).This message reports the baseline heading pointing from the base station to the rover relative to True North. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).GPS Time of WeekHeading%Number of satellites used in solution Status flags|TUVWXYZ-./[\]^_`abcdefghij012klmnopqrstuvwxyz{|}345~6789:;<=>?@ABCDEFGHIJKLM NOP    QRS !"#$%&TUV'()*+,-./012345678WXY9:;<=>?@ABCDEFGHIJZ[\KLMNOPQRSTUVWXYZ[\]^_]^_`abcdefghijklmn`abopqrstuvwxyz{|}~cdefgh@TUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~TUVWXYZ-./[ \]^_`abcdefghij012klmnopqrstuvwxyz{|}345~678 9:;<=> ?@ABCD EFGHIJKLM NOP    QRS !"#$%&TUV' ()*+,-./012345678WXY9:;<=>?@ABCDEFGHIJZ[\K LMNOPQRSTUVWXYZ[\]^_]^_`abcdefghijklmn`abo pqrstuvwxyz{|}~cdefgh)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" -SBP class for message MSG_NDB_EVENT (0x0400).This message is sent out when an object is stored into NDB. If needed message could also be sent out when fetching an object from NDB.HW time in milliseconds. Event type.Event object type. Event result.7Data source for STORE event, reserved for other events.GNSS signal identifier, If object_type is Ephemeris OR Almanac, sid indicates for which signal the object belongs to. Reserved in other cases.GNSS signal identifier, If object_type is Almanac, Almanac WN, Iono OR L2C capabilities AND data_source is NDB_DS_RECEIVER sid indicates from which SV data was decoded. Reserved in other cases.A unique identifier of the sending hardware. For v1.0, set to the 2 least significant bytes of the device serial number, valid only if data_source is NDB_DS_SBP. Reserved in case of other data_source.ijk  ijk)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"AObservationHeader.%Header of a GNSS observation message.GNSS time of this observationTotal number of observations. First nibble is the size of the sequence (n), second nibble is the zero-indexed counter (ith packet of n)Doppler.Doppler measurement in Hz represented as a 24-bit fixed point number with Q16.8 layout, i.e. 16-bits of whole doppler and 8-bits of fractional doppler. This doppler is defined as positive for approaching satellites.Doppler whole HzDoppler fractional partPackedObsContent.Pseudorange and carrier phase observation for a satellite being tracked. The observations are interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations.Pseudorange observation7Carrier phase observation with typical sign convention.1Doppler observation with typical sign convention.4Carrier-to-Noise density. Zero implies invalid cn0.nLock timer. This value gives an indication of the time for which a signal has maintained continuous phase lock. Whenever a signal has lost and regained lock, this value is reset to zero. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15 and the most significant nibble is reserved for future use.Measurement status flags. A bit field of flags providing the status of this observation. If this field is 0 it means only the Cn0 estimate for the signal is valid.GNSS signal identifier (16 bit)'SBP class for message MSG_OBS (0x004A).The GPS observations message reports all the raw pseudorange and carrier phase observations for the satellites being tracked by the device. Carrier phase observation here is represented as a 40-bit fixed point number with Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). The observations are be interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations.#Header of a GPS observation messageHPseudorange and carrier phase observation for a satellite being tracked.0SBP class for message MSG_BASE_POS_LLH (0x0044).%The base station position message is the position reported by the base station itself. It is used for pseudo-absolute RTK positioning, and is required to be a high-accuracy surveyed location of the base station. Any error here will result in an error in the pseudo-absolute position output.Latitude LongitudeHeight1SBP class for message MSG_BASE_POS_ECEF (0x0048).ZThe base station position message is the position reported by the base station itself in absolute Earth Centered Earth Fixed coordinates. It is used for pseudo-absolute RTK positioning, and is required to be a high- accuracy surveyed location of the base station. Any error here will result in an error in the pseudo-absolute position output.ECEF X coodinateECEF Y coordinateECEF Z coordinateGNSS signal identifier (16 bit)Time of EphemeridesUser Range AccuracyCurve fit interval+Status of ephemeris, 1 = valid, 0 = invalidSatellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalidGNSS signal identifierTime of EphemeridesUser Range AccuracyCurve fit interval+Status of ephemeris, 1 = valid, 0 = invalidSatellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid7SBP class for message MSG_EPHEMERIS_GPS_DEP_E (0x0081).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.%Values common for all ephemeris types*Group delay differential between L1 and L2BAmplitude of the sine harmonic correction term to the orbit radiusDAmplitude of the cosine harmonic correction term to the orbit radiusMAmplitude of the cosine harmonic correction term to the argument of latitudeKAmplitude of the sine harmonic correction term to the argument of latitudeMAmplitude of the cosine harmonic correction term to the angle of inclinationKAmplitude of the sine harmonic correction term to the angle of inclinationMean motion differenceMean anomaly at reference timeEccentricity of satellite orbit+Square root of the semi-major axis of orbit:Longitude of ascending node of orbit plane at weekly epochRate of right ascensionArgument of perigee InclinationInclination first derivative4Polynomial clock correction coefficient (clock bias)5Polynomial clock correction coefficient (clock drift)=Polynomial clock correction coefficient (rate of clock drift)Clock reference Issue of ephemeris data Issue of clock data1SBP class for message MSG_EPHEMERIS_GPS (0x0086).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.%Values common for all ephemeris types*Group delay differential between L1 and L2BAmplitude of the sine harmonic correction term to the orbit radiusDAmplitude of the cosine harmonic correction term to the orbit radiusMAmplitude of the cosine harmonic correction term to the argument of latitudeKAmplitude of the sine harmonic correction term to the argument of latitudeMAmplitude of the cosine harmonic correction term to the angle of inclinationKAmplitude of the sine harmonic correction term to the angle of inclinationMean motion differenceMean anomaly at reference timeEccentricity of satellite orbit+Square root of the semi-major axis of orbit :Longitude of ascending node of orbit plane at weekly epoch!Rate of right ascension"Argument of perigee# Inclination$Inclination first derivative%4Polynomial clock correction coefficient (clock bias)&5Polynomial clock correction coefficient (clock drift)'=Polynomial clock correction coefficient (rate of clock drift)(Clock reference)Issue of ephemeris data*Issue of clock dataE%Values common for all ephemeris typesFPosition of the GEO at time toeGVelocity of the GEO at time toeH#Acceleration of the GEO at time toeI5Time offset of the GEO clock w.r.t. SBAS Network TimeJ/Drift of the GEO clock w.r.t. SBAS Network Timec7SBP class for message MSG_EPHEMERIS_GLO_DEP_A (0x0083).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate information (ephemeris parameters)" for more details.e%Values common for all ephemeris typesf>Relative deviation of predicted carrier frequency from nominalgCorrection to the SV timeh7Position of the SV at tb in PZ-90.02 coordinates systemi>Velocity vector of the SV at tb in PZ-90.02 coordinates systemj?Acceleration vector of the SV at tb in PZ-90.02 coordinates syst%Values common for all ephemeris typesuPosition of the GEO at time toevVelocity of the GEO at time toew#Acceleration of the GEO at time toex5Time offset of the GEO clock w.r.t. SBAS Network Timey/Drift of the GEO clock w.r.t. SBAS Network Time7SBP class for message MSG_EPHEMERIS_GLO_DEP_B (0x0085).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate information (ephemeris parameters)" for more details.%Values common for all ephemeris types>Relative deviation of predicted carrier frequency from nominalCorrection to the SV time7Position of the SV at tb in PZ-90.02 coordinates system>Velocity vector of the SV at tb in PZ-90.02 coordinates system?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys7SBP class for message MSG_EPHEMERIS_GLO_DEP_C (0x0087).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate information (ephemeris parameters)" for more details.%Values common for all ephemeris types>Relative deviation of predicted carrier frequency from nominalCorrection to the SV time!Equipment delay between L1 and L27Position of the SV at tb in PZ-90.02 coordinates system>Velocity vector of the SV at tb in PZ-90.02 coordinates system?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys>Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid1SBP class for message MSG_EPHEMERIS_GLO (0x0088).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate information (ephemeris parameters)" for more details.%Values common for all ephemeris types>Relative deviation of predicted carrier frequency from nominalCorrection to the SV time!Equipment delay between L1 and L27Position of the SV at tb in PZ-90.02 coordinates system>Velocity vector of the SV at tb in PZ-90.02 coordinates system?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys>Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalidIssue of ephemeris data3SBP class for message MSG_EPHEMERIS_DEP_D (0x0080).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.*Group delay differential between L1 and L2BAmplitude of the sine harmonic correction term to the orbit radiusDAmplitude of the cosine harmonic correction term to the orbit radiusMAmplitude of the cosine harmonic correction term to the argument of latitudeKAmplitude of the sine harmonic correction term to the argument of latitudeMAmplitude of the cosine harmonic correction term to the angle of inclinationKAmplitude of the sine harmonic correction term to the angle of inclinationMean motion differenceMean anomaly at reference timeEccentricity of satellite orbit+Square root of the semi-major axis of orbit:Longitude of ascending node of orbit plane at weekly epochRate of right ascensionArgument of perigee InclinationInclination first derivative4Polynomial clock correction coefficient (clock bias)5Polynomial clock correction coefficient (clock drift)=Polynomial clock correction coefficient (rate of clock drift) Time of week Week numberClock reference time of weekClock reference week number Is valid?Satellite is healthy?GNSS signal identifierIssue of ephemeris dataIssue of clock dataReserved field3SBP class for message MSG_EPHEMERIS_DEP_A (0x001A). Deprecated.*Group delay differential between L1 and L2BAmplitude of the sine harmonic correction term to the orbit radiusDAmplitude of the cosine harmonic correction term to the orbit radiusMAmplitude of the cosine harmonic correction term to the argument of latitudeKAmplitude of the sine harmonic correction term to the argument of latitudeMAmplitude of the cosine harmonic correction term to the angle of inclinationKAmplitude of the sine harmonic correction term to the angle of inclinationMean motion differenceMean anomaly at reference timeEccentricity of satellite orbit+Square root of the semi-major axis of orbit:Longitude of ascending node of orbit plane at weekly epochRate of right ascensionArgument of perigee InclinationInclination first derivative4Polynomial clock correction coefficient (clock bias)5Polynomial clock correction coefficient (clock drift)=Polynomial clock correction coefficient (rate of clock drift) Time of week Week numberClock reference time of weekClock reference week number Is valid?Satellite is healthy?PRN being tracked3SBP class for message MSG_EPHEMERIS_DEP_B (0x0046). Deprecated.*Group delay differential between L1 and L2BAmplitude of the sine harmonic correction term to the orbit radiusDAmplitude of the cosine harmonic correction term to the orbit radiusMAmplitude of the cosine harmonic correction term to the argument of latitudeKAmplitude of the sine harmonic correction term to the argument of latitudeMAmplitude of the cosine harmonic correction term to the angle of inclination KAmplitude of the sine harmonic correction term to the angle of inclination!Mean motion difference"Mean anomaly at reference time#Eccentricity of satellite orbit$+Square root of the semi-major axis of orbit%:Longitude of ascending node of orbit plane at weekly epoch&Rate of right ascension'Argument of perigee( Inclination)Inclination first derivative*4Polynomial clock correction coefficient (clock bias)+5Polynomial clock correction coefficient (clock drift),=Polynomial clock correction coefficient (rate of clock drift)- Time of week. Week number/Clock reference time of week0Clock reference week number1 Is valid?2Satellite is healthy?3PRN being tracked4Issue of ephemeris dataP3SBP class for message MSG_EPHEMERIS_DEP_C (0x0047).The ephemeris message returns a set of satellite orbit parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.R*Group delay differential between L1 and L2SBAmplitude of the sine harmonic correction term to the orbit radiusTDAmplitude of the cosine harmonic correction term to the orbit radiusUMAmplitude of the cosine harmonic correction term to the argument of latitudeVKAmplitude of the sine harmonic correction term to the argument of latitudeWMAmplitude of the cosine harmonic correction term to the angle of inclinationXKAmplitude of the sine harmonic correction term to the angle of inclinationYMean motion differenceZMean anomaly at reference time[Eccentricity of satellite orbit\+Square root of the semi-major axis of orbit]:Longitude of ascending node of orbit plane at weekly epoch^Rate of right ascension_Argument of perigee` InclinationaInclination first derivativeb4Polynomial clock correction coefficient (clock bias)c5Polynomial clock correction coefficient (clock drift)d=Polynomial clock correction coefficient (rate of clock drift)e Time of weekf Week numbergClock reference time of weekhClock reference week numberi Is valid?jSatellite is healthy?kGNSS signal identifierlIssue of ephemeris datamIssue of clock datanReserved fieldObservationHeaderDep.$Header of a GPS observation message.GPS time of this observationTotal number of observations. First nibble is the size of the sequence (n), second nibble is the zero-indexed counter (ith packet of n)CarrierPhaseDepA.Carrier phase measurement in cycles represented as a 40-bit fixed point number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of fractional cycles. This has the opposite sign convention than a typical GPS receiver and the phase has the opposite sign as the pseudorange.Carrier phase whole cyclesCarrier phase fractional partPackedObsContentDepA. Deprecated.Pseudorange observationDCarrier phase observation with opposite sign from typical conventionCarrier-to-Noise densityLock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed.(PRN-1 identifier of the satellite signalPackedObsContentDepB.Pseudorange and carrier phase observation for a satellite being tracked. Pseudoranges are referenced to a nominal pseudorange.Pseudorange observationECarrier phase observation with opposite sign from typical convention.Carrier-to-Noise densityLock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed.GNSS signal identifierPackedObsContentDepC.Pseudorange and carrier phase observation for a satellite being tracked. The observations are be interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations.Pseudorange observation7Carrier phase observation with typical sign convention.Carrier-to-Noise densityLock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed.GNSS signal identifier-SBP class for message MSG_OBS_DEP_A (0x0045). Deprecated.#Header of a GPS observation messageHPseudorange and carrier phase observation for a satellite being tracked.-SBP class for message MSG_OBS_DEP_B (0x0043).This observation message has been deprecated in favor of observations that are more interoperable. This message should be used for observations referenced to a nominal pseudorange which are not interoperable with most 3rd party GNSS receievers or typical RTCMv3 observations.#Header of a GPS observation messageHPseudorange and carrier phase observation for a satellite being tracked.-SBP class for message MSG_OBS_DEP_C (0x0049).The GPS observations message reports all the raw pseudorange and carrier phase observations for the satellites being tracked by the device. Carrier phase observation here is represented as a 40-bit fixed point number with Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). The observations are interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations.#Header of a GPS observation messageHPseudorange and carrier phase observation for a satellite being tracked.(SBP class for message MSG_IONO (0x0090).The ionospheric parameters which allow the "L1 only" or "L2 only" user to utilize the ionospheric model for computation of the ionospheric delay. Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details.1Navigation Message Correction Table Valitidy Time8SBP class for message MSG_SV_CONFIGURATION_GPS (0x0091).?Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details.1Navigation Message Correction Table Valitidy Time:L2C capability mask, SV32 bit being MSB, SV1 bit being LSB5SBP class for message MSG_GROUP_DELAY_DEP_A (0x0092).7Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. Data Predict Time of Week Satellite number zbit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid./SBP class for message MSG_GROUP_DELAY (0x0093).7Please see ICD-GPS-200 (30.3.3.3.1.1) for more details.Data Predict Time of WeekGNSS signal identifierzbit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid.#GNSS signal identifier$Reference time of almanac%User Range Accuracy&Curve fit interval')Status of almanac, 1 = valid, 0 = invalid(Satellite health status for GPS: - bits 5-7: NAV data health status. See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for Health of SV Signal Components. Satellite health status for GLO: See GLO ICD 5.1 table 5.1 for details - bit 0: C(n), "unhealthy" flag that is transmitted within non-immediate data and indicates overall constellation status at the moment of almanac uploading. '0', indicates malfunction of n-satellite. '1'@ indicates that n-satellite is operational. - bit 1: Bn(ln), '0'I indicates the satellite is operational and suitable for navigation.//SBP class for message MSG_ALMANAC_GPS (0x0070).The almanac message returns a set of satellite orbit parameters. Almanac data is not very precise and is considered valid for up to several months. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details.1#Values common for all almanac types2Mean anomaly at reference time3Eccentricity of satellite orbit4+Square root of the semi-major axis of orbit5:Longitude of ascending node of orbit plane at weekly epoch6Rate of right ascension7Argument of perigee8 Inclination94Polynomial clock correction coefficient (clock bias):5Polynomial clock correction coefficient (clock drift)B/SBP class for message MSG_ALMANAC_GLO (0x0071).The almanac message returns a set of satellite orbit parameters. Almanac data is not very precise and is considered valid for up to several months. Please see the GLO ICD 5.1 "Chapter 4.5 Non-immediate information and almanac" for details.D#Values common for all almanac typesEQLongitude of the first ascending node of the orbit in PZ-90.02 coordinate systemF(Time of the first ascending node passageG+Value of inclination at instant of t_lambdaH0Value of Draconian period at instant of t_lambdaI&Rate of change of the Draconian periodJ#Eccentricity at instant of t_lambdaK*Argument of perigee at instant of t_lambdaW,SBP class for message MSG_FCNS_GLO (0x0072).NThe message reports mapping information regarding GLONASS SV orbital and frequency slots. Mapped as follow: index (SV orbital slot) fcns[index] 0 0xFF 1 FCN for SV orbital slot 1 ... ... 28 FCN for SV orbital slot 28 29 0xFF 30 0xFF 31 0xFFYGPS Week numberZGPS Time of week[(GLONASS fequency number per orbital slot"lmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefg      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefglmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~        !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~       !"#$%&'()*+,-./ 0123456789:;<=>?@AB CDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefg)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"Ph+SBP class for message MSG_ALMANAC (0x0069).sThis is a legacy message for sending and loading a satellite alamanac onto the Piksi's flash memory from the host.k,SBP class for message MSG_SET_TIME (0x0068).]This message sets up timing functionality using a coarse GPS time estimate sent by the host.n)SBP class for message MSG_RESET (0x00B6).EThis message from the host resets the Piksi back into the bootloader.p Reset flagsr-SBP class for message MSG_RESET_DEP (0x00B2).EThis message from the host resets the Piksi back into the bootloader.v.SBP class for message MSG_CW_RESULTS (0x00C0).This is an unused legacy message for result reporting from the CW interference channel on the SwiftNAP. This message will be removed in a future release.y,SBP class for message MSG_CW_START (0x00C1).This is an unused legacy message from the host for starting the CW interference channel on the SwiftNAP. This message will be removed in a future release.|1SBP class for message MSG_RESET_FILTERS (0x0022).cThis message resets either the DGNSS Kalman filters or Integer Ambiguity Resolution (IAR) process.~ Filter flags-SBP class for message MSG_INIT_BASE (0x0023).This message initializes the integer ambiguity resolution (IAR) process on the Piksi to use an assumed baseline position between the base station and rover receivers. Warns via MSG_PRINT if there aren't a shared minimum number (4) of satellite observations between the two.0SBP class for message MSG_THREAD_STATE (0x0017).The thread usage message from the device reports real-time operating system (RTOS) thread usage statistics for the named thread. The reported percentage values must be normalized.Thread name (NULL terminated)cPercentage cpu use for this thread. Values range from 0 - 1000 and needs to be renormalized to 100 Free stack space for this thread UARTChannel.Throughput, utilization, and error counts on the RX/TX buffers of this UART channel. The reported percentage values must be normalized.UART transmit throughputUART receive throughputUART CRC error countUART IO error countBUART transmit buffer percentage utilization (ranges from 0 to 255)AUART receive buffer percentage utilization (ranges from 0 to 255)Period.fStatistics on the period of observations received from the base station. As complete observation sets are received, their time of reception is compared with the prior set''s time of reception. This measurement provides a proxy for link quality as incomplete or missing sets will increase the period. Long periods can cause momentary RTK solution outages.Average periodMinimum periodMaximum period'Smoothed estimate of the current periodLatency.Statistics on the latency of observations received from the base station. As observation packets are received their GPS time is compared to the current GPS time calculated locally by the receiver to give a precise measurement of the end-to-end communication latency in the system.Average latencyMinimum latencyMaximum latency(Smoothed estimate of the current latency.SBP class for message MSG_UART_STATE (0x001D).The UART message reports data latency and throughput of the UART channels providing SBP I/O. On the default Piksi configuration, UARTs A and B are used for telemetry radios, but can also be host access ports for embedded hosts, or other interfaces in future. The reported percentage values must be normalized. Observations latency and period can be used to assess the health of the differential corrections link. Latency provides the timeliness of received base observations while the period indicates their likelihood of transmission.State of UART AState of UART BState of UART FTDI (USB logger)UART communication latencyObservation receipt period3SBP class for message MSG_UART_STATE_DEPA (0x0018). DeprecatedState of UART AState of UART BState of UART FTDI (USB logger)UART communication latency-SBP class for message MSG_IAR_STATE (0x0019).This message reports the state of the Integer Ambiguity Resolution (IAR) process, which resolves unknown integer ambiguities from double-differenced carrier-phase measurements from satellite observations.0Number of integer ambiguity hypotheses remaining2SBP class for message MSG_MASK_SATELLITE (0x001B).rThis message allows setting a mask to prevent a particular satellite from being used in various Piksi subsystems.2Mask of systems that should ignore this satellite.)GNSS signal for which the mask is applied2SBP class for message MSG_DEVICE_MONITOR (0x00B5).This message contains temperature and voltage level measurements from the processor's monitoring system and the RF frontend die temperature if available. Device V_inProcessor V_intProcessor V_auxProcessor temperature#Frontend temperature (if available)/SBP class for message MSG_COMMAND_REQ (0x00B8).Request the recipient to execute an command. Output will be sent in MSG_LOG messages, and the exit code will be returned with MSG_COMMAND_RESP.Sequence numberCommand line to execute0SBP class for message MSG_COMMAND_RESP (0x00B9).oThe response to MSG_COMMAND_REQ with the return code of the command. A return code of zero indicates success.Sequence number Exit code2SBP class for message MSG_COMMAND_OUTPUT (0x00BC).Returns the standard output and standard error of the command requested by MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the correct command.Sequence number)Line of standard output or standard error5SBP class for message MSG_NETWORK_STATE_REQ (0x00BA).bRequest state of Piksi network interfaces. Output will be sent in MSG_NETWORK_STATE_RESP messages6SBP class for message MSG_NETWORK_STATE_RESP (0x00BB).}The state of a network interface on the Piksi. Data is made to reflect output of ifaddrs struct returned by getifaddrs in c.(IPv4 address (all zero when unavailable)IPv4 netmask CIDR notation(IPv6 address (all zero when unavailable)IPv6 netmask CIDR notationNumber of Rx bytesNumber of Tx bytesInterface Name!Interface flags from SIOCGIFFLAGS*SBP class for message MSG_SPECAN (0x0050).Spectrum analyzer packet. Channel ID!Receiver time of this observation"Reference frequency of this packet'Frequency step of points in this packet "Reference amplitude of this packet -Amplitude unit value of points in this packet >Amplitude values (in the above units) of points in this packethijklmnopqrstuvwxyz{|}~               hijklmnopqrstuvwxyz{|}~     hijklmnopqrstuvwxyz{|}~                )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"1SBP class for message MSG_SETTINGS_SAVE (0x00A1).xThe save settings message persists the device's current settings configuration to its onboard flash memory file system.2SBP class for message MSG_SETTINGS_WRITE (0x00A0).4The setting message writes the device configuration.!A NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE]. A device will only process to this message when it is received from sender ID 0x42.#5SBP class for message MSG_SETTINGS_READ_REQ (0x00A4).3The setting message reads the device configuration.%A NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING]. A device will only respond to this message when it is received from sender ID 0x42.(6SBP class for message MSG_SETTINGS_READ_RESP (0x00A5).3The setting message reads the device configuration.*XA NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE].->SBP class for message MSG_SETTINGS_READ_BY_INDEX_REQ (0x00A2).The settings message for iterating through the settings values. It will read the setting at an index, returning a NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE]. A device will only respond to this message when it is received from sender ID 0x42./RAn index into the device settings, with values ranging from 0 to length(settings)2?SBP class for message MSG_SETTINGS_READ_BY_INDEX_RESP (0x00A7).The settings message for iterating through the settings values. It will read the setting at an index, returning a NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE].4RAn index into the device settings, with values ranging from 0 to length(settings)5XA NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE].8?SBP class for message MSG_SETTINGS_READ_BY_INDEX_DONE (0x00A6).?The settings message for indicating end of the settings values.=5SBP class for message MSG_SETTINGS_REGISTER (0x00AE).This message registers the presence and default value of a setting with a settings daemon. The host should reply with MSG_SETTINGS_WRITE for this setting to set the initial value.?XA NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE].>    !"   #$%&'   ()*+,   -./01   234567   89:;< ! " #=>?@ $ % &A& !"#$%&'()*+,-./0123456789:;<=>?@A/    !"   #$%&'   ()*+,   -./01   234567   89:;< ! " #=>?@ $ % &A)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" B+SBP class for message MSG_STARTUP (0xFF00).The system start-up message is sent once on system start-up. It notifies the host or other attached devices that the system has started and is now ready to respond to commands or configuration requests.DCause of startupE Startup typeFReservedH0SBP class for message MSG_DGNSS_STATUS (0xFF02).This message provides information about the receipt of Differential corrections. It is expected to be sent with each receipt of a complete corrections packet.J Status flagsKLatency of observation receiptL#Number of signals from base stationMCorrections source stringR-SBP class for message MSG_HEARTBEAT (0xFFFF).The heartbeat message is sent periodically to inform the host or other attached devices that the system is running. It is used to monitor system malfunctions. It also contains status flags that indicate to the host the status of the system and whether it is operating correctly. Currently, the expected heartbeat interval is 1 sec. The system error flag is used to indicate that an error has occurred in the system. To determine the source of the error, the remaining error flags should be inspected.T Status flags"BCDEFG ' ( )HIJKLMNOPQ * + ,RSTUVWXY - . /ZBCDEFGHIJKLMNOPQRSTUVWXYZBCDEFG ' ( )HIJKLMNOPQ * + ,RSTUVWXY - . /Z)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"/[;SBP class for message MSG_TRACKING_STATE_DETAILED (0x0011).zThe tracking message returns a set tracking channel parameters for a single tracking channel useful for debugging issues.]Receiver clock time.^Time of transmission of signal from satellite. TOW only valid when TOW status is decoded or propagated. WN only valid when week number valid flag is set._GPseudorange observation. Valid only when pseudorange valid flag is set.`[Pseudorange observation standard deviation. Valid only when pseudorange valid flag is set.ajCarrier phase observation with typical sign convention. Valid only when PLL pessimistic lock is achieved.bCarrier-to-Noise densityc~Lock time. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15.dGNSS signal identifier.eCarrier Doppler frequency.f-Carrier Doppler frequency standard deviation.gaNumber of seconds of continuous tracking. Specifies how much time signal is in continuous track.hATCXO clock offset. Valid only when valid clock valid flag is set.i@TCXO clock drift. Valid only when valid clock valid flag is set.j;Early-Prompt (EP) and Prompt-Late (PL) correlators spacing.k=Acceleration. Valid only when acceleration valid flag is set.lSynchronization status flags.mTOW status flags.nTracking loop status flags.oNavigation data status flags.pParameters sets flags.qMiscellaneous flags.sTrackingChannelState.RTracking channel state for a specific satellite signal and measured signal power.uGNSS signal being trackedv'Frequency channel number (GLONASS only)w4Carrier-to-Noise density. Zero implies invalid cn0.2SBP class for message MSG_TRACKING_STATE (0x0041).The tracking message returns a variable-length array of tracking channel states. It reports status and carrier-to-noise density measurements for all tracked satellites.Signal tracking channel stateTrackingChannelCorrelation.DStructure containing in-phase and quadrature correlation components.In-phase correlationQuadrature correlation/SBP class for message MSG_TRACKING_IQ (0x001C).VWhen enabled, a tracking channel can output the correlations at each update interval.Tracking channel of originGNSS signal identifier#Early, Prompt and Late correlationsTrackingChannelStateDepA. Deprecated.Status of tracking channelPRN-1 being trackedCarrier-to-noise density8SBP class for message MSG_TRACKING_STATE_DEP_A (0x0016). Deprecated. Satellite tracking channel stateTrackingChannelStateDepB. Deprecated.Status of tracking channelGNSS signal being trackedCarrier-to-noise density8SBP class for message MSG_TRACKING_STATE_DEP_B (0x0013). Deprecated.Signal tracking channel statez[\]^_`abcdefghijklmnopqr 0 1 2stuvwxyz{|}~ 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E Fc[\]^_`abcdefghijklmnopqrstuvwxyz{|}~K[\]^_`abcdefghijklmnopqr 0 1 2stuvwxyz{|}~ 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"-SBP class for message MSG_USER_DATA (0x0800).mThis message can contain any application specific user data up to a maximum length of 255 bytes per message.User data payload G H I G H I)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"8An SBP message ADT composed of all defined SBP messages.Includes SBPMsgUnknown for valid SBP messages with undefined message types and SBPMsgBadCRC for SBP messages with invalid CRC checksums.      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~ J K L M      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~}w      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~ J K L M)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone  !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:~}|{zyxwvutsrqponmlkjihgfedcba`_^]\[ZYXWVUTSRQPONMLKJIHGFEDCBA@?>=<;        "!# &'$%+()*/0,-.192345678>=<;:E?@ABCDMLKJNFGHIUTVOPQRS]\[^WXYZcbd_`aklefghijsrqptmnou|vwxyz{}~( !"#$%&'543210/.6)*+,-987>:;<=EDF?@ABCLKJMGHIQRNOPSZTUVWXYihgfj[\]^_`abcde|{zyxwvut}klmnopqrs~     %$#"! &76543218'()*+,-./0IHGFEDCBJ9:;<=>?@A[ZYXWVU\KLMNOPQRSTmlkjihgfn]^_`abcde~}|{zyopqrstuvwx     A@?>=<;:9876543210/.-,+B !"#$%&'()*a`_^]\[ZYXWVUTSRQPONMLKbCDEFGHIJponmlkqcdefghij~}|{zrstuvwxy     NMLKJIHGFEDCBA@?>=<;:98765O !"#$%&'()*+,-./01234~}|{zyxwvutsrqpoPQRSTUVWXYZ[\]^_`abcdefghijklmn      .-,+*)!"#$%&'(@?>=<;A/0123456789:UTSRQPONMLVBCDEFGHIJKcba`_^]\dWXYZ[gfejhimklqnoptursxvw{yz|}~     " !&'#$%+,()*01-./672345;:<89@=>?AGBCDEFPONQHIJKLMXWVUYRSTZr[\]^_`abcdefghijklmnopq~}|{zyxstuvw N !"#$%&'()*+,,-../012234567789::;<==>?@ABBCDEFGHIJKLMNNOPQRSTTUVWXYZ[\\]^_`abccdefghijjklmnoopqrstuvvwxyz{|} ~ ~                                                                            ! " # $ % & ' ( ) * + + , - . / / 0 1 2 3 4 5 6 6 7 8 9 : ; < < = > ? @AABCDEFGGHIJKLMNOPQRSTUVVWXYZ[\]^_`abcdefghhijklmnopqrstuvwxxyz{|}~      !"#$%&'(()*+,-./01234567899:;<=>?@ABCDEFGHIJJKLMNOPQRSTUVWXYZ[[\]^_`abcdefghijklmmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./00123456789:;<=>>?@ABCDEFGHIJKLLMNOPQRSTUVWXYZZ[\]^_`abcdefghijjklmnopqrstuvwxyz{|}}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOOPQRSTUVWXYZ[\]^_`abcdefghijklmnoopqrsttuvwxyz{||}~        !"##$%&&'(()**+,--./001234556789:;<=>??@ABCDEFGHIJJKLMNOPQRSSTUVWXYZ[\]^^_`abcdefghiijklmnoppqrstuuvwxyz{|}~~      !"##$%&''()*+,-../01234556789:;;<=>?@@ABCDEFGGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghij k l m n o p q r s t u v w x y z { | } ~                                                            !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~ sbp-2.2.7-94SwZ2rqeajBLGFrUskvBVSwiftNav.SBP.EncodingSwiftNav.CRC16 SwiftNav.SBPSwiftNav.SBP.TypesSwiftNav.SBP.THSwiftNav.SBP.BootloadSwiftNav.SBP.ExtEventsSwiftNav.SBP.FileIoSwiftNav.SBP.FlashSwiftNav.SBP.GnssSwiftNav.SBP.AcquisitionSwiftNav.SBP.ImuSwiftNav.SBP.LoggingSwiftNav.SBP.NavigationSwiftNav.SBP.NdbSwiftNav.SBP.ObservationSwiftNav.SBP.PiksiSwiftNav.SBP.SettingsSwiftNav.SBP.SystemSwiftNav.SBP.TrackingSwiftNav.SBP.UserSwiftNav.SBP.Msg$fFromJSONByteString$fToJSONByteStringcrc16Msg _msgSBPType _msgSBPSender _msgSBPLen_msgSBPPayload _msgSBPCrcmsgSBPPreamble defaultSenderToSBPtoSBPHasMsgmsg msgSBPCrc msgSBPLen msgSBPPayload msgSBPSender msgSBPTypecheckCrcMsgBootloaderHandshakeReqmsgBootloaderHandshakeReqMsgBootloaderHandshakeResp!_msgBootloaderHandshakeResp_flags#_msgBootloaderHandshakeResp_versionmsgBootloaderHandshakeRespMsgBootloaderJumpToApp_msgBootloaderJumpToApp_jump msgBootloaderHandshakeResp_flags"msgBootloaderHandshakeResp_versionmsgBootloaderJumpToAppMsgNapDeviceDnaReqmsgBootloaderJumpToApp_jumpmsgNapDeviceDnaReqMsgNapDeviceDnaResp_msgNapDeviceDnaResp_dnamsgNapDeviceDnaRespMsgBootloaderHandshakeDepA%_msgBootloaderHandshakeDepA_handshakemsgNapDeviceDnaResp_dnamsgBootloaderHandshakeDepA$msgBootloaderHandshakeDepA_handshake MsgExtEvent_msgExtEvent_wn_msgExtEvent_tow_msgExtEvent_ns_residual_msgExtEvent_flags_msgExtEvent_pin msgExtEventmsgExtEvent_flagsmsgExtEvent_ns_residualmsgExtEvent_pinmsgExtEvent_towmsgExtEvent_wnMsgFileioReadReq_msgFileioReadReq_sequence_msgFileioReadReq_offset_msgFileioReadReq_chunk_size_msgFileioReadReq_filenamemsgFileioReadReqMsgFileioReadResp_msgFileioReadResp_sequence_msgFileioReadResp_contentsmsgFileioReadReq_chunk_sizemsgFileioReadReq_filenamemsgFileioReadReq_offsetmsgFileioReadReq_sequencemsgFileioReadRespMsgFileioReadDirReq_msgFileioReadDirReq_sequence_msgFileioReadDirReq_offset_msgFileioReadDirReq_dirnamemsgFileioReadResp_contentsmsgFileioReadResp_sequencemsgFileioReadDirReqMsgFileioReadDirResp_msgFileioReadDirResp_sequence_msgFileioReadDirResp_contentsmsgFileioReadDirReq_dirnamemsgFileioReadDirReq_offsetmsgFileioReadDirReq_sequencemsgFileioReadDirRespMsgFileioRemove_msgFileioRemove_filenamemsgFileioReadDirResp_contentsmsgFileioReadDirResp_sequencemsgFileioRemoveMsgFileioWriteReq_msgFileioWriteReq_sequence_msgFileioWriteReq_offset_msgFileioWriteReq_filename_msgFileioWriteReq_datamsgFileioRemove_filenamemsgFileioWriteReqMsgFileioWriteResp_msgFileioWriteResp_sequencemsgFileioWriteReq_datamsgFileioWriteReq_filenamemsgFileioWriteReq_offsetmsgFileioWriteReq_sequencemsgFileioWriteRespmsgFileioWriteResp_sequenceMsgFlashProgram_msgFlashProgram_target_msgFlashProgram_addr_start_msgFlashProgram_addr_len_msgFlashProgram_datamsgFlashProgram MsgFlashDone_msgFlashDone_responsemsgFlashProgram_addr_lenmsgFlashProgram_addr_startmsgFlashProgram_datamsgFlashProgram_target msgFlashDoneMsgFlashReadReq_msgFlashReadReq_target_msgFlashReadReq_addr_start_msgFlashReadReq_addr_lenmsgFlashDone_responsemsgFlashReadReqMsgFlashReadResp_msgFlashReadResp_target_msgFlashReadResp_addr_start_msgFlashReadResp_addr_lenmsgFlashReadReq_addr_lenmsgFlashReadReq_addr_startmsgFlashReadReq_targetmsgFlashReadResp MsgFlashErase_msgFlashErase_target_msgFlashErase_sector_nummsgFlashReadResp_addr_lenmsgFlashReadResp_addr_startmsgFlashReadResp_target msgFlashEraseMsgStmFlashLockSector_msgStmFlashLockSector_sectormsgFlashErase_sector_nummsgFlashErase_targetmsgStmFlashLockSectorMsgStmFlashUnlockSector_msgStmFlashUnlockSector_sectormsgStmFlashLockSector_sectormsgStmFlashUnlockSectorMsgStmUniqueIdReqmsgStmFlashUnlockSector_sectormsgStmUniqueIdReqMsgStmUniqueIdResp_msgStmUniqueIdResp_stm_idmsgStmUniqueIdRespMsgM25FlashWriteStatus_msgM25FlashWriteStatus_statusmsgStmUniqueIdResp_stm_idmsgM25FlashWriteStatusmsgM25FlashWriteStatus_status GnssSignal16_gnssSignal16_sat_gnssSignal16_code GnssSignal_gnssSignal_sat_gnssSignal_code_gnssSignal_reservedgnssSignal16_codegnssSignal16_satGpsTime _gpsTime_tow _gpsTime_wngnssSignal_codegnssSignal_reservedgnssSignal_sat GpsTimeSec_gpsTimeSec_tow_gpsTimeSec_wn gpsTime_tow gpsTime_wn GpsTimeNano_gpsTimeNano_tow_gpsTimeNano_ns_residual_gpsTimeNano_wngpsTimeSec_tow gpsTimeSec_wn CarrierPhase_carrierPhase_i_carrierPhase_fgpsTimeNano_ns_residualgpsTimeNano_towgpsTimeNano_wncarrierPhase_fcarrierPhase_i MsgAcqResult_msgAcqResult_cn0_msgAcqResult_cp_msgAcqResult_cf_msgAcqResult_sid msgAcqResultMsgAcqResultDepB_msgAcqResultDepB_snr_msgAcqResultDepB_cp_msgAcqResultDepB_cf_msgAcqResultDepB_sidmsgAcqResult_cfmsgAcqResult_cn0msgAcqResult_cpmsgAcqResult_sidmsgAcqResultDepBMsgAcqResultDepA_msgAcqResultDepA_snr_msgAcqResultDepA_cp_msgAcqResultDepA_cf_msgAcqResultDepA_prnmsgAcqResultDepB_cfmsgAcqResultDepB_cpmsgAcqResultDepB_sidmsgAcqResultDepB_snrmsgAcqResultDepA AcqSvProfile_acqSvProfile_job_type_acqSvProfile_status_acqSvProfile_cn0_acqSvProfile_int_time_acqSvProfile_sid_acqSvProfile_bin_width_acqSvProfile_timestamp_acqSvProfile_time_spent_acqSvProfile_cf_min_acqSvProfile_cf_max_acqSvProfile_cf_acqSvProfile_cpmsgAcqResultDepA_cfmsgAcqResultDepA_cpmsgAcqResultDepA_prnmsgAcqResultDepA_snrMsgAcqSvProfile_msgAcqSvProfile_acq_sv_profileacqSvProfile_bin_widthacqSvProfile_cfacqSvProfile_cf_maxacqSvProfile_cf_minacqSvProfile_cn0acqSvProfile_cpacqSvProfile_int_timeacqSvProfile_job_typeacqSvProfile_sidacqSvProfile_statusacqSvProfile_time_spentacqSvProfile_timestampmsgAcqSvProfilemsgAcqSvProfile_acq_sv_profile MsgImuRaw_msgImuRaw_tow_msgImuRaw_tow_f_msgImuRaw_acc_x_msgImuRaw_acc_y_msgImuRaw_acc_z_msgImuRaw_gyr_x_msgImuRaw_gyr_y_msgImuRaw_gyr_z msgImuRaw MsgImuAux_msgImuAux_imu_type_msgImuAux_temp_msgImuAux_imu_confmsgImuRaw_acc_xmsgImuRaw_acc_ymsgImuRaw_acc_zmsgImuRaw_gyr_xmsgImuRaw_gyr_ymsgImuRaw_gyr_z msgImuRaw_towmsgImuRaw_tow_f msgImuAuxmsgImuAux_imu_confmsgImuAux_imu_typemsgImuAux_tempMsgLog _msgLog_level _msgLog_textmsgLogMsgFwd_msgFwd_source_msgFwd_protocol_msgFwd_fwd_payload msgLog_level msgLog_textmsgFwdMsgTweet_msgTweet_tweetmsgFwd_fwd_payloadmsgFwd_protocol msgFwd_sourcemsgTweet MsgPrintDep_msgPrintDep_textmsgTweet_tweet msgPrintDepmsgPrintDep_text MsgGpsTime_msgGpsTime_wn_msgGpsTime_tow_msgGpsTime_ns_residual_msgGpsTime_flags msgGpsTime MsgUtcTime_msgUtcTime_flags_msgUtcTime_tow_msgUtcTime_year_msgUtcTime_month_msgUtcTime_day_msgUtcTime_hours_msgUtcTime_minutes_msgUtcTime_seconds_msgUtcTime_nsmsgGpsTime_flagsmsgGpsTime_ns_residualmsgGpsTime_tow msgGpsTime_wn msgUtcTimeMsgDops _msgDops_tow _msgDops_gdop _msgDops_pdop _msgDops_tdop _msgDops_hdop _msgDops_vdop_msgDops_flagsmsgUtcTime_daymsgUtcTime_flagsmsgUtcTime_hoursmsgUtcTime_minutesmsgUtcTime_month msgUtcTime_nsmsgUtcTime_secondsmsgUtcTime_towmsgUtcTime_yearmsgDops MsgPosEcef_msgPosEcef_tow _msgPosEcef_x _msgPosEcef_y _msgPosEcef_z_msgPosEcef_accuracy_msgPosEcef_n_sats_msgPosEcef_flags msgDops_flags msgDops_gdop msgDops_hdop msgDops_pdop msgDops_tdop msgDops_tow msgDops_vdop msgPosEcef MsgPosLlh_msgPosLlh_tow_msgPosLlh_lat_msgPosLlh_lon_msgPosLlh_height_msgPosLlh_h_accuracy_msgPosLlh_v_accuracy_msgPosLlh_n_sats_msgPosLlh_flagsmsgPosEcef_accuracymsgPosEcef_flagsmsgPosEcef_n_satsmsgPosEcef_tow msgPosEcef_x msgPosEcef_y msgPosEcef_z msgPosLlhMsgBaselineEcef_msgBaselineEcef_tow_msgBaselineEcef_x_msgBaselineEcef_y_msgBaselineEcef_z_msgBaselineEcef_accuracy_msgBaselineEcef_n_sats_msgBaselineEcef_flagsmsgPosLlh_flagsmsgPosLlh_h_accuracymsgPosLlh_height msgPosLlh_lat msgPosLlh_lonmsgPosLlh_n_sats msgPosLlh_towmsgPosLlh_v_accuracymsgBaselineEcefMsgBaselineNed_msgBaselineNed_tow_msgBaselineNed_n_msgBaselineNed_e_msgBaselineNed_d_msgBaselineNed_h_accuracy_msgBaselineNed_v_accuracy_msgBaselineNed_n_sats_msgBaselineNed_flagsmsgBaselineEcef_accuracymsgBaselineEcef_flagsmsgBaselineEcef_n_satsmsgBaselineEcef_towmsgBaselineEcef_xmsgBaselineEcef_ymsgBaselineEcef_zmsgBaselineNed MsgVelEcef_msgVelEcef_tow _msgVelEcef_x _msgVelEcef_y _msgVelEcef_z_msgVelEcef_accuracy_msgVelEcef_n_sats_msgVelEcef_flagsmsgBaselineNed_dmsgBaselineNed_emsgBaselineNed_flagsmsgBaselineNed_h_accuracymsgBaselineNed_nmsgBaselineNed_n_satsmsgBaselineNed_towmsgBaselineNed_v_accuracy msgVelEcef MsgVelNed_msgVelNed_tow _msgVelNed_n _msgVelNed_e _msgVelNed_d_msgVelNed_h_accuracy_msgVelNed_v_accuracy_msgVelNed_n_sats_msgVelNed_flagsmsgVelEcef_accuracymsgVelEcef_flagsmsgVelEcef_n_satsmsgVelEcef_tow msgVelEcef_x msgVelEcef_y msgVelEcef_z msgVelNedMsgBaselineHeading_msgBaselineHeading_tow_msgBaselineHeading_heading_msgBaselineHeading_n_sats_msgBaselineHeading_flags msgVelNed_d msgVelNed_emsgVelNed_flagsmsgVelNed_h_accuracy msgVelNed_nmsgVelNed_n_sats msgVelNed_towmsgVelNed_v_accuracymsgBaselineHeadingMsgAgeCorrections_msgAgeCorrections_tow_msgAgeCorrections_agemsgBaselineHeading_flagsmsgBaselineHeading_headingmsgBaselineHeading_n_satsmsgBaselineHeading_towmsgAgeCorrectionsMsgGpsTimeDepA_msgGpsTimeDepA_wn_msgGpsTimeDepA_tow_msgGpsTimeDepA_ns_residual_msgGpsTimeDepA_flagsmsgAgeCorrections_agemsgAgeCorrections_towmsgGpsTimeDepA MsgDopsDepA_msgDopsDepA_tow_msgDopsDepA_gdop_msgDopsDepA_pdop_msgDopsDepA_tdop_msgDopsDepA_hdop_msgDopsDepA_vdopmsgGpsTimeDepA_flagsmsgGpsTimeDepA_ns_residualmsgGpsTimeDepA_towmsgGpsTimeDepA_wn msgDopsDepAMsgPosEcefDepA_msgPosEcefDepA_tow_msgPosEcefDepA_x_msgPosEcefDepA_y_msgPosEcefDepA_z_msgPosEcefDepA_accuracy_msgPosEcefDepA_n_sats_msgPosEcefDepA_flagsmsgDopsDepA_gdopmsgDopsDepA_hdopmsgDopsDepA_pdopmsgDopsDepA_tdopmsgDopsDepA_towmsgDopsDepA_vdopmsgPosEcefDepA MsgPosLlhDepA_msgPosLlhDepA_tow_msgPosLlhDepA_lat_msgPosLlhDepA_lon_msgPosLlhDepA_height_msgPosLlhDepA_h_accuracy_msgPosLlhDepA_v_accuracy_msgPosLlhDepA_n_sats_msgPosLlhDepA_flagsmsgPosEcefDepA_accuracymsgPosEcefDepA_flagsmsgPosEcefDepA_n_satsmsgPosEcefDepA_towmsgPosEcefDepA_xmsgPosEcefDepA_ymsgPosEcefDepA_z msgPosLlhDepAMsgBaselineEcefDepA_msgBaselineEcefDepA_tow_msgBaselineEcefDepA_x_msgBaselineEcefDepA_y_msgBaselineEcefDepA_z_msgBaselineEcefDepA_accuracy_msgBaselineEcefDepA_n_sats_msgBaselineEcefDepA_flagsmsgPosLlhDepA_flagsmsgPosLlhDepA_h_accuracymsgPosLlhDepA_heightmsgPosLlhDepA_latmsgPosLlhDepA_lonmsgPosLlhDepA_n_satsmsgPosLlhDepA_towmsgPosLlhDepA_v_accuracymsgBaselineEcefDepAMsgBaselineNedDepA_msgBaselineNedDepA_tow_msgBaselineNedDepA_n_msgBaselineNedDepA_e_msgBaselineNedDepA_d_msgBaselineNedDepA_h_accuracy_msgBaselineNedDepA_v_accuracy_msgBaselineNedDepA_n_sats_msgBaselineNedDepA_flagsmsgBaselineEcefDepA_accuracymsgBaselineEcefDepA_flagsmsgBaselineEcefDepA_n_satsmsgBaselineEcefDepA_towmsgBaselineEcefDepA_xmsgBaselineEcefDepA_ymsgBaselineEcefDepA_zmsgBaselineNedDepAMsgVelEcefDepA_msgVelEcefDepA_tow_msgVelEcefDepA_x_msgVelEcefDepA_y_msgVelEcefDepA_z_msgVelEcefDepA_accuracy_msgVelEcefDepA_n_sats_msgVelEcefDepA_flagsmsgBaselineNedDepA_dmsgBaselineNedDepA_emsgBaselineNedDepA_flagsmsgBaselineNedDepA_h_accuracymsgBaselineNedDepA_nmsgBaselineNedDepA_n_satsmsgBaselineNedDepA_towmsgBaselineNedDepA_v_accuracymsgVelEcefDepA MsgVelNedDepA_msgVelNedDepA_tow_msgVelNedDepA_n_msgVelNedDepA_e_msgVelNedDepA_d_msgVelNedDepA_h_accuracy_msgVelNedDepA_v_accuracy_msgVelNedDepA_n_sats_msgVelNedDepA_flagsmsgVelEcefDepA_accuracymsgVelEcefDepA_flagsmsgVelEcefDepA_n_satsmsgVelEcefDepA_towmsgVelEcefDepA_xmsgVelEcefDepA_ymsgVelEcefDepA_z msgVelNedDepAMsgBaselineHeadingDepA_msgBaselineHeadingDepA_tow_msgBaselineHeadingDepA_heading_msgBaselineHeadingDepA_n_sats_msgBaselineHeadingDepA_flagsmsgVelNedDepA_dmsgVelNedDepA_emsgVelNedDepA_flagsmsgVelNedDepA_h_accuracymsgVelNedDepA_nmsgVelNedDepA_n_satsmsgVelNedDepA_towmsgVelNedDepA_v_accuracymsgBaselineHeadingDepAmsgBaselineHeadingDepA_flagsmsgBaselineHeadingDepA_headingmsgBaselineHeadingDepA_n_satsmsgBaselineHeadingDepA_tow MsgNdbEvent_msgNdbEvent_recv_time_msgNdbEvent_event_msgNdbEvent_object_type_msgNdbEvent_result_msgNdbEvent_data_source_msgNdbEvent_object_sid_msgNdbEvent_src_sid_msgNdbEvent_original_sender msgNdbEventmsgNdbEvent_data_sourcemsgNdbEvent_eventmsgNdbEvent_object_sidmsgNdbEvent_object_typemsgNdbEvent_original_sendermsgNdbEvent_recv_timemsgNdbEvent_resultmsgNdbEvent_src_sidObservationHeader_observationHeader_t_observationHeader_n_obsDoppler _doppler_i _doppler_fobservationHeader_n_obsobservationHeader_tPackedObsContent_packedObsContent_P_packedObsContent_L_packedObsContent_D_packedObsContent_cn0_packedObsContent_lock_packedObsContent_flags_packedObsContent_sid doppler_f doppler_iMsgObs_msgObs_header _msgObs_obspackedObsContent_DpackedObsContent_LpackedObsContent_PpackedObsContent_cn0packedObsContent_flagspackedObsContent_lockpackedObsContent_sidmsgObs MsgBasePosLlh_msgBasePosLlh_lat_msgBasePosLlh_lon_msgBasePosLlh_height msgObs_header msgObs_obs msgBasePosLlhMsgBasePosEcef_msgBasePosEcef_x_msgBasePosEcef_y_msgBasePosEcef_zmsgBasePosLlh_heightmsgBasePosLlh_latmsgBasePosLlh_lonmsgBasePosEcefEphemerisCommonContent_ephemerisCommonContent_sid_ephemerisCommonContent_toe_ephemerisCommonContent_ura$_ephemerisCommonContent_fit_interval_ephemerisCommonContent_valid#_ephemerisCommonContent_health_bitsmsgBasePosEcef_xmsgBasePosEcef_ymsgBasePosEcef_zEphemerisCommonContentDepA_ephemerisCommonContentDepA_sid_ephemerisCommonContentDepA_toe_ephemerisCommonContentDepA_ura(_ephemerisCommonContentDepA_fit_interval!_ephemerisCommonContentDepA_valid'_ephemerisCommonContentDepA_health_bits#ephemerisCommonContent_fit_interval"ephemerisCommonContent_health_bitsephemerisCommonContent_sidephemerisCommonContent_toeephemerisCommonContent_uraephemerisCommonContent_validMsgEphemerisGpsDepE_msgEphemerisGpsDepE_common_msgEphemerisGpsDepE_tgd_msgEphemerisGpsDepE_c_rs_msgEphemerisGpsDepE_c_rc_msgEphemerisGpsDepE_c_uc_msgEphemerisGpsDepE_c_us_msgEphemerisGpsDepE_c_ic_msgEphemerisGpsDepE_c_is_msgEphemerisGpsDepE_dn_msgEphemerisGpsDepE_m0_msgEphemerisGpsDepE_ecc_msgEphemerisGpsDepE_sqrta_msgEphemerisGpsDepE_omega0_msgEphemerisGpsDepE_omegadot_msgEphemerisGpsDepE_w_msgEphemerisGpsDepE_inc_msgEphemerisGpsDepE_inc_dot_msgEphemerisGpsDepE_af0_msgEphemerisGpsDepE_af1_msgEphemerisGpsDepE_af2_msgEphemerisGpsDepE_toc_msgEphemerisGpsDepE_iode_msgEphemerisGpsDepE_iodc'ephemerisCommonContentDepA_fit_interval&ephemerisCommonContentDepA_health_bitsephemerisCommonContentDepA_sidephemerisCommonContentDepA_toeephemerisCommonContentDepA_ura ephemerisCommonContentDepA_validmsgEphemerisGpsDepEMsgEphemerisGps_msgEphemerisGps_common_msgEphemerisGps_tgd_msgEphemerisGps_c_rs_msgEphemerisGps_c_rc_msgEphemerisGps_c_uc_msgEphemerisGps_c_us_msgEphemerisGps_c_ic_msgEphemerisGps_c_is_msgEphemerisGps_dn_msgEphemerisGps_m0_msgEphemerisGps_ecc_msgEphemerisGps_sqrta_msgEphemerisGps_omega0_msgEphemerisGps_omegadot_msgEphemerisGps_w_msgEphemerisGps_inc_msgEphemerisGps_inc_dot_msgEphemerisGps_af0_msgEphemerisGps_af1_msgEphemerisGps_af2_msgEphemerisGps_toc_msgEphemerisGps_iode_msgEphemerisGps_iodcmsgEphemerisGpsDepE_af0msgEphemerisGpsDepE_af1msgEphemerisGpsDepE_af2msgEphemerisGpsDepE_c_icmsgEphemerisGpsDepE_c_ismsgEphemerisGpsDepE_c_rcmsgEphemerisGpsDepE_c_rsmsgEphemerisGpsDepE_c_ucmsgEphemerisGpsDepE_c_usmsgEphemerisGpsDepE_commonmsgEphemerisGpsDepE_dnmsgEphemerisGpsDepE_eccmsgEphemerisGpsDepE_incmsgEphemerisGpsDepE_inc_dotmsgEphemerisGpsDepE_iodcmsgEphemerisGpsDepE_iodemsgEphemerisGpsDepE_m0msgEphemerisGpsDepE_omega0msgEphemerisGpsDepE_omegadotmsgEphemerisGpsDepE_sqrtamsgEphemerisGpsDepE_tgdmsgEphemerisGpsDepE_tocmsgEphemerisGpsDepE_wmsgEphemerisGpsMsgEphemerisSbasDepA_msgEphemerisSbasDepA_common_msgEphemerisSbasDepA_pos_msgEphemerisSbasDepA_vel_msgEphemerisSbasDepA_acc_msgEphemerisSbasDepA_a_gf0_msgEphemerisSbasDepA_a_gf1msgEphemerisGps_af0msgEphemerisGps_af1msgEphemerisGps_af2msgEphemerisGps_c_icmsgEphemerisGps_c_ismsgEphemerisGps_c_rcmsgEphemerisGps_c_rsmsgEphemerisGps_c_ucmsgEphemerisGps_c_usmsgEphemerisGps_commonmsgEphemerisGps_dnmsgEphemerisGps_eccmsgEphemerisGps_incmsgEphemerisGps_inc_dotmsgEphemerisGps_iodcmsgEphemerisGps_iodemsgEphemerisGps_m0msgEphemerisGps_omega0msgEphemerisGps_omegadotmsgEphemerisGps_sqrtamsgEphemerisGps_tgdmsgEphemerisGps_tocmsgEphemerisGps_wmsgEphemerisSbasDepAMsgEphemerisGloDepA_msgEphemerisGloDepA_common_msgEphemerisGloDepA_gamma_msgEphemerisGloDepA_tau_msgEphemerisGloDepA_pos_msgEphemerisGloDepA_vel_msgEphemerisGloDepA_accmsgEphemerisSbasDepA_a_gf0msgEphemerisSbasDepA_a_gf1msgEphemerisSbasDepA_accmsgEphemerisSbasDepA_commonmsgEphemerisSbasDepA_posmsgEphemerisSbasDepA_velmsgEphemerisGloDepAMsgEphemerisSbas_msgEphemerisSbas_common_msgEphemerisSbas_pos_msgEphemerisSbas_vel_msgEphemerisSbas_acc_msgEphemerisSbas_a_gf0_msgEphemerisSbas_a_gf1msgEphemerisGloDepA_accmsgEphemerisGloDepA_commonmsgEphemerisGloDepA_gammamsgEphemerisGloDepA_posmsgEphemerisGloDepA_taumsgEphemerisGloDepA_velmsgEphemerisSbasMsgEphemerisGloDepB_msgEphemerisGloDepB_common_msgEphemerisGloDepB_gamma_msgEphemerisGloDepB_tau_msgEphemerisGloDepB_pos_msgEphemerisGloDepB_vel_msgEphemerisGloDepB_accmsgEphemerisSbas_a_gf0msgEphemerisSbas_a_gf1msgEphemerisSbas_accmsgEphemerisSbas_commonmsgEphemerisSbas_posmsgEphemerisSbas_velmsgEphemerisGloDepBMsgEphemerisGloDepC_msgEphemerisGloDepC_common_msgEphemerisGloDepC_gamma_msgEphemerisGloDepC_tau_msgEphemerisGloDepC_d_tau_msgEphemerisGloDepC_pos_msgEphemerisGloDepC_vel_msgEphemerisGloDepC_acc_msgEphemerisGloDepC_fcnmsgEphemerisGloDepB_accmsgEphemerisGloDepB_commonmsgEphemerisGloDepB_gammamsgEphemerisGloDepB_posmsgEphemerisGloDepB_taumsgEphemerisGloDepB_velmsgEphemerisGloDepCMsgEphemerisGlo_msgEphemerisGlo_common_msgEphemerisGlo_gamma_msgEphemerisGlo_tau_msgEphemerisGlo_d_tau_msgEphemerisGlo_pos_msgEphemerisGlo_vel_msgEphemerisGlo_acc_msgEphemerisGlo_fcn_msgEphemerisGlo_iodmsgEphemerisGloDepC_accmsgEphemerisGloDepC_commonmsgEphemerisGloDepC_d_taumsgEphemerisGloDepC_fcnmsgEphemerisGloDepC_gammamsgEphemerisGloDepC_posmsgEphemerisGloDepC_taumsgEphemerisGloDepC_velmsgEphemerisGloMsgEphemerisDepD_msgEphemerisDepD_tgd_msgEphemerisDepD_c_rs_msgEphemerisDepD_c_rc_msgEphemerisDepD_c_uc_msgEphemerisDepD_c_us_msgEphemerisDepD_c_ic_msgEphemerisDepD_c_is_msgEphemerisDepD_dn_msgEphemerisDepD_m0_msgEphemerisDepD_ecc_msgEphemerisDepD_sqrta_msgEphemerisDepD_omega0_msgEphemerisDepD_omegadot_msgEphemerisDepD_w_msgEphemerisDepD_inc_msgEphemerisDepD_inc_dot_msgEphemerisDepD_af0_msgEphemerisDepD_af1_msgEphemerisDepD_af2_msgEphemerisDepD_toe_tow_msgEphemerisDepD_toe_wn_msgEphemerisDepD_toc_tow_msgEphemerisDepD_toc_wn_msgEphemerisDepD_valid_msgEphemerisDepD_healthy_msgEphemerisDepD_sid_msgEphemerisDepD_iode_msgEphemerisDepD_iodc_msgEphemerisDepD_reservedmsgEphemerisGlo_accmsgEphemerisGlo_commonmsgEphemerisGlo_d_taumsgEphemerisGlo_fcnmsgEphemerisGlo_gammamsgEphemerisGlo_iodmsgEphemerisGlo_posmsgEphemerisGlo_taumsgEphemerisGlo_velmsgEphemerisDepDMsgEphemerisDepA_msgEphemerisDepA_tgd_msgEphemerisDepA_c_rs_msgEphemerisDepA_c_rc_msgEphemerisDepA_c_uc_msgEphemerisDepA_c_us_msgEphemerisDepA_c_ic_msgEphemerisDepA_c_is_msgEphemerisDepA_dn_msgEphemerisDepA_m0_msgEphemerisDepA_ecc_msgEphemerisDepA_sqrta_msgEphemerisDepA_omega0_msgEphemerisDepA_omegadot_msgEphemerisDepA_w_msgEphemerisDepA_inc_msgEphemerisDepA_inc_dot_msgEphemerisDepA_af0_msgEphemerisDepA_af1_msgEphemerisDepA_af2_msgEphemerisDepA_toe_tow_msgEphemerisDepA_toe_wn_msgEphemerisDepA_toc_tow_msgEphemerisDepA_toc_wn_msgEphemerisDepA_valid_msgEphemerisDepA_healthy_msgEphemerisDepA_prnmsgEphemerisDepD_af0msgEp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MsgObsDepA_msgObsDepA_header_msgObsDepA_obspackedObsContentDepC_LpackedObsContentDepC_PpackedObsContentDepC_cn0packedObsContentDepC_lockpackedObsContentDepC_sid msgObsDepA MsgObsDepB_msgObsDepB_header_msgObsDepB_obsmsgObsDepA_headermsgObsDepA_obs msgObsDepB MsgObsDepC_msgObsDepC_header_msgObsDepC_obsmsgObsDepB_headermsgObsDepB_obs msgObsDepCMsgIono_msgIono_t_nmct _msgIono_a0 _msgIono_a1 _msgIono_a2 _msgIono_a3 _msgIono_b0 _msgIono_b1 _msgIono_b2 _msgIono_b3msgObsDepC_headermsgObsDepC_obsmsgIonoMsgSvConfigurationGps_msgSvConfigurationGps_t_nmct_msgSvConfigurationGps_l2c_mask msgIono_a0 msgIono_a1 msgIono_a2 msgIono_a3 msgIono_b0 msgIono_b1 msgIono_b2 msgIono_b3msgIono_t_nmctmsgSvConfigurationGpsMsgGroupDelayDepA_msgGroupDelayDepA_t_op_msgGroupDelayDepA_prn_msgGroupDelayDepA_valid_msgGroupDelayDepA_tgd_msgGroupDelayDepA_isc_l1ca_msgGroupDelayDepA_isc_l2cmsgSvConfigurationGps_l2c_maskmsgSvConfigurationGps_t_nmctmsgGroupDelayDepA MsgGroupDelay_msgGroupDelay_t_op_msgGroupDelay_sid_msgGroupDelay_valid_msgGroupDelay_tgd_msgGroupDelay_isc_l1ca_msgGroupDelay_isc_l2cmsgGroupDelayDepA_isc_l1camsgGroupDelayDepA_isc_l2cmsgGroupDelayDepA_prnmsgGroupDelayDepA_t_opmsgGroupDelayDepA_tgdmsgGroupDelayDepA_valid msgGroupDelayAlmanacCommonContent_almanacCommonContent_sid_almanacCommonContent_toa_almanacCommonContent_ura"_almanacCommonContent_fit_interval_almanacCommonContent_valid!_almanacCommonContent_health_bitsmsgGroupDelay_isc_l1camsgGroupDelay_isc_l2cmsgGroupDelay_sidmsgGroupDelay_t_opmsgGroupDelay_tgdmsgGroupDelay_valid MsgAlmanacGps_msgAlmanacGps_common_msgAlmanacGps_m0_msgAlmanacGps_ecc_msgAlmanacGps_sqrta_msgAlmanacGps_omega0_msgAlmanacGps_omegadot_msgAlmanacGps_w_msgAlmanacGps_inc_msgAlmanacGps_af0_msgAlmanacGps_af1!almanacCommonContent_fit_interval almanacCommonContent_health_bitsalmanacCommonContent_sidalmanacCommonContent_toaalmanacCommonContent_uraalmanacCommonContent_valid msgAlmanacGps MsgAlmanacGlo_msgAlmanacGlo_common_msgAlmanacGlo_lambda_na_msgAlmanacGlo_t_lambda_na_msgAlmanacGlo_i_msgAlmanacGlo_t_msgAlmanacGlo_t_dot_msgAlmanacGlo_epsilon_msgAlmanacGlo_omegamsgAlmanacGps_af0msgAlmanacGps_af1msgAlmanacGps_commonmsgAlmanacGps_eccmsgAlmanacGps_incmsgAlmanacGps_m0msgAlmanacGps_omega0msgAlmanacGps_omegadotmsgAlmanacGps_sqrtamsgAlmanacGps_w msgAlmanacGlo MsgFcnsGlo_msgFcnsGlo_wn_msgFcnsGlo_tow_ms_msgFcnsGlo_fcnsmsgAlmanacGlo_commonmsgAlmanacGlo_epsilonmsgAlmanacGlo_imsgAlmanacGlo_lambda_namsgAlmanacGlo_omegamsgAlmanacGlo_tmsgAlmanacGlo_t_dotmsgAlmanacGlo_t_lambda_na msgFcnsGlomsgFcnsGlo_fcnsmsgFcnsGlo_tow_ms msgFcnsGlo_wn MsgAlmanac msgAlmanac MsgSetTime msgSetTimeMsgReset_msgReset_flagsmsgReset MsgResetDepmsgReset_flags msgResetDep MsgCwResults msgCwResults MsgCwStart msgCwStartMsgResetFilters_msgResetFilters_filtermsgResetFilters MsgInitBasemsgResetFilters_filter msgInitBaseMsgThreadState_msgThreadState_name_msgThreadState_cpu_msgThreadState_stack_freemsgThreadState UARTChannel_uARTChannel_tx_throughput_uARTChannel_rx_throughput_uARTChannel_crc_error_count_uARTChannel_io_error_count_uARTChannel_tx_buffer_level_uARTChannel_rx_buffer_levelmsgThreadState_cpumsgThreadState_namemsgThreadState_stack_freePeriod _period_avg _period_pmin _period_pmax_period_currentuARTChannel_crc_error_countuARTChannel_io_error_countuARTChannel_rx_buffer_leveluARTChannel_rx_throughputuARTChannel_tx_buffer_leveluARTChannel_tx_throughputLatency _latency_avg _latency_lmin _latency_lmax_latency_current period_avgperiod_current period_pmax period_pmin MsgUartState_msgUartState_uart_a_msgUartState_uart_b_msgUartState_uart_ftdi_msgUartState_latency_msgUartState_obs_period latency_avglatency_current latency_lmax latency_lmin msgUartStateMsgUartStateDepa_msgUartStateDepa_uart_a_msgUartStateDepa_uart_b_msgUartStateDepa_uart_ftdi_msgUartStateDepa_latencymsgUartState_latencymsgUartState_obs_periodmsgUartState_uart_amsgUartState_uart_bmsgUartState_uart_ftdimsgUartStateDepa MsgIarState_msgIarState_num_hypsmsgUartStateDepa_latencymsgUartStateDepa_uart_amsgUartStateDepa_uart_bmsgUartStateDepa_uart_ftdi msgIarStateMsgMaskSatellite_msgMaskSatellite_mask_msgMaskSatellite_sidmsgIarState_num_hypsmsgMaskSatelliteMsgDeviceMonitor_msgDeviceMonitor_dev_vin_msgDeviceMonitor_cpu_vint_msgDeviceMonitor_cpu_vaux!_msgDeviceMonitor_cpu_temperature _msgDeviceMonitor_fe_temperaturemsgMaskSatellite_maskmsgMaskSatellite_sidmsgDeviceMonitor MsgCommandReq_msgCommandReq_sequence_msgCommandReq_command msgDeviceMonitor_cpu_temperaturemsgDeviceMonitor_cpu_vauxmsgDeviceMonitor_cpu_vintmsgDeviceMonitor_dev_vinmsgDeviceMonitor_fe_temperature msgCommandReqMsgCommandResp_msgCommandResp_sequence_msgCommandResp_codemsgCommandReq_commandmsgCommandReq_sequencemsgCommandRespMsgCommandOutput_msgCommandOutput_sequence_msgCommandOutput_linemsgCommandResp_codemsgCommandResp_sequencemsgCommandOutputMsgNetworkStateReqmsgCommandOutput_linemsgCommandOutput_sequencemsgNetworkStateReqMsgNetworkStateResp!_msgNetworkStateResp_ipv4_address#_msgNetworkStateResp_ipv4_mask_size!_msgNetworkStateResp_ipv6_address#_msgNetworkStateResp_ipv6_mask_size_msgNetworkStateResp_rx_bytes_msgNetworkStateResp_tx_bytes#_msgNetworkStateResp_interface_name_msgNetworkStateResp_flagsmsgNetworkStateResp MsgSpecan_msgSpecan_channel_tag _msgSpecan_t_msgSpecan_freq_ref_msgSpecan_freq_step_msgSpecan_amplitude_ref_msgSpecan_amplitude_unit_msgSpecan_amplitude_valuemsgNetworkStateResp_flags"msgNetworkStateResp_interface_name msgNetworkStateResp_ipv4_address"msgNetworkStateResp_ipv4_mask_size msgNetworkStateResp_ipv6_address"msgNetworkStateResp_ipv6_mask_sizemsgNetworkStateResp_rx_bytesmsgNetworkStateResp_tx_bytes msgSpecanmsgSpecan_amplitude_refmsgSpecan_amplitude_unitmsgSpecan_amplitude_valuemsgSpecan_channel_tagmsgSpecan_freq_refmsgSpecan_freq_step msgSpecan_tMsgSettingsSavemsgSettingsSaveMsgSettingsWrite_msgSettingsWrite_settingmsgSettingsWriteMsgSettingsReadReq_msgSettingsReadReq_settingmsgSettingsWrite_settingmsgSettingsReadReqMsgSettingsReadResp_msgSettingsReadResp_settingmsgSettingsReadReq_settingmsgSettingsReadRespMsgSettingsReadByIndexReq _msgSettingsReadByIndexReq_indexmsgSettingsReadResp_settingmsgSettingsReadByIndexReqMsgSettingsReadByIndexResp!_msgSettingsReadByIndexResp_index#_msgSettingsReadByIndexResp_settingmsgSettingsReadByIndexReq_indexmsgSettingsReadByIndexRespMsgSettingsReadByIndexDone msgSettingsReadByIndexResp_index"msgSettingsReadByIndexResp_settingmsgSettingsReadByIndexDoneMsgSettingsRegister_msgSettingsRegister_settingmsgSettingsRegistermsgSettingsRegister_setting MsgStartup_msgStartup_cause_msgStartup_startup_type_msgStartup_reserved msgStartupMsgDgnssStatus_msgDgnssStatus_flags_msgDgnssStatus_latency_msgDgnssStatus_num_signals_msgDgnssStatus_sourcemsgStartup_causemsgStartup_reservedmsgStartup_startup_typemsgDgnssStatus MsgHeartbeat_msgHeartbeat_flagsmsgDgnssStatus_flagsmsgDgnssStatus_latencymsgDgnssStatus_num_signalsmsgDgnssStatus_source msgHeartbeatmsgHeartbeat_flagsMsgTrackingStateDetailed#_msgTrackingStateDetailed_recv_time_msgTrackingStateDetailed_tot_msgTrackingStateDetailed_P_msgTrackingStateDetailed_P_std_msgTrackingStateDetailed_L_msgTrackingStateDetailed_cn0_msgTrackingStateDetailed_lock_msgTrackingStateDetailed_sid!_msgTrackingStateDetailed_doppler%_msgTrackingStateDetailed_doppler_std 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$fBinaryTrackingChannelStateDepA"$fFromJSONTrackingChannelStateDepA$fBinaryMsgTrackingStateDepA$fToSBPMsgTrackingStateDepA$fFromJSONMsgTrackingStateDepA $fBinaryTrackingChannelStateDepB"$fFromJSONTrackingChannelStateDepB$fBinaryMsgTrackingStateDepB$fToSBPMsgTrackingStateDepB$fFromJSONMsgTrackingStateDepB$fBinaryMsgUserData$fToSBPMsgUserData$fFromJSONMsgUserData$fHasMsgSBPMsg$fToJSONSBPMsg$fFromJSONSBPMsg$fBinarySBPMsg