)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)CWrapper around ByteString for *JSON and Binary typeclass instances. ?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.;Derive JSON stripping out prefixes 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 flags#Bootloader 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). +,-./!0"#1234$5%6789:;&<=>?@A'B(CDEF)G*HIJKLM +,!0"#1$5%678&<=>'B(C)G*HIM# +,-./!0"#1234$5%6789:;&<=>?@A'B(CDEF)G*HIJKLM)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"N-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.OGPS week numberP3GPS time of week rounded to the nearest millisecondQONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)RFlagsSPin number. 0..9 = DEBUG0..9.NTOPQRSUVWXYZ[\] NTOPQRSUYZ[\] NTOPQRSUVWXYZ[\])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._Read sequence number` File offsetaChunk size to readbName of the file to read fromc4SBP 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.dRead sequence numbereContents of read filef7SBP 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.gRead sequence numberh8The offset to skip the first n elements of the file listiName of the directory to listj8SBP 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.kRead sequence numberlContents of read directorym1SBP 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.nName of the file to deleteo4SBP 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.pWrite sequence numberq7Offset into the file at which to start writing in bytesrName of the file to write tos&Variable-length array of data to writet5SBP 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.uWrite sequence numberL^v_`abwxyzc{de|}~fghijklmnopqrstu7^v_`abwc{de|}~fghijklmnopqrstu4^v_`abwxyzc{de|}~fghijklmnopqrstu)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"1SBP 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. Target flags"Starting address offset to programHLength of set of addresses to program, counting up from starting address6Data 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^@C)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" GnssSignal.JSignal identifier containing constellation, band, and satellite identifier +Constellation-specific satellite identifier #Signal constellation, band and code GnssSignalDep. Deprecated. Constellation-specific satellite identifier. Note: unlike GnssSignal, GPS satellites are encoded as (PRN - 1). Other constellations do not have this offset. #Signal constellation, band and codeReserved GPSTimeDep.A wire-appropriate GPS time, defined as the number of milliseconds since beginning of the week on the Saturday/Sunday transition.$Milliseconds since start of GPS weekGPS week number GPSTimeSec.lA GPS time, defined as the number of seconds since beginning of the week on the Saturday/Sunday transition.Seconds since start of GPS weekGPS week numberGPSTime.A wire-appropriate receiver clock time, defined as the time since the beginning of the week on the Saturday/Sunday transition. In most cases, observations are epoch aligned so ns field will be 0.$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      !"#$%&'()*+,-./0123456789:;(      !$%&'*+,/014567:;       !"#$%&'()*+,-./0123456789:; )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"2<.SBP class for message MSG_ACQ_RESULT (0x002F). 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 point>Code phase of best point?Carrier frequency of best point@/GNSS signal for which acquisition was attemptedA4SBP class for message MSG_ACQ_RESULT_DEP_C (0x001F). Deprecated.BCN/0 of best pointCCode phase of best pointDCarrier frequency of best pointE/GNSS signal for which acquisition was attemptedF4SBP class for message MSG_ACQ_RESULT_DEP_B (0x0014). Deprecated.GySNR of best point. Currently in arbitrary SNR points, but will be in units of dB Hz in a later revision of this message.HCode phase of best pointICarrier frequency of best pointJ/GNSS signal for which acquisition was attemptedK4SBP class for message MSG_ACQ_RESULT_DEP_A (0x0015). Deprecated.LiSNR of best point. Currently dimensonless, but will have units of dB Hz in the revision of this message.MCode phase of best pointNCarrier frequency of best pointOMPRN-1 identifier of the satellite signal for which acquisition was attemptedP 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.Q(SV search job type (deep, fallback, etc)R-Acquisition status 1 is Success, 0 is FailureS#CN0 value. Only valid if status is '1'TAcquisition integration timeU/GNSS signal for which acquisition was attemptedVAcq frequency bin widthW#Timestamp of the job complete eventX!Time spent to search for sid.codeYDoppler range lowest frequencyZDoppler range highest frequency[8Doppler value of detected peak. Only valid if status is '1'\4Codephase of detected peak. Only valid if status is '1']AcqSvProfileDep. Deprecated.^(SV search job type (deep, fallback, etc)_-Acquisition status 1 is Success, 0 is Failure`#CN0 value. Only valid if status is '1'aAcquisition integration timeb/GNSS signal for which acquisition was attemptedcAcq frequency bin widthd#Timestamp of the job complete evente!Time spent to search for sid.codefDoppler range lowest frequencygDoppler range highest frequencyh8Doppler value of detected peak. Only valid if status is '1'i4Codephase of detected peak. Only valid if status is '1'j2SBP class for message MSG_ACQ_SV_PROFILE (0x002E).yThe message describes all SV profiles during acquisition time. The message is used to debug and measure the performance.k#SV profiles during acquisition timel6SBP class for message MSG_ACQ_SV_PROFILE_DEP (0x001E). Deprecated.m#SV profiles during acquisition time<n=>?@opqrAsBCDEtuvwxyz{F|GHIJ}~KLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmj<n=>?@oAsBCDEtuvwxF|GHIJ}~KLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmN<n=>?@opqrAsBCDEtuvwxyz{F|GHIJ}~KLMNOP QRSTUVWXYZ[\] ^_`abcdefghijklm )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 typeRaw IMU temperatureIMU configuration"  )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 levelHuman-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.source identifierprotocol identifier&variable length wrapped binary message)SBP class for message MSG_TWEET (0x0012).All the news fit to tweet.Human-readable string-SBP class for message MSG_PRINT_DEP (0x0010). Deprecated.Human-readable string& )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"+SBP class for message MSG_MAG_RAW (0x0902).Raw data from the magnetometer.^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'Magnetic field in the body frame X axis'Magnetic field in the body frame Y axis 'Magnetic field in the body frame Z axis                )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!",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.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_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 validity3GPS time of week rounded to the nearest millisecondYearMonth (range 1 .. 12)days in the month (range 1-31)hours of day (range 0-23) minutes of hour (range 0-59)!+seconds of minute (range 0-60) rounded down")nanoseconds of second (range 0-999999999)#(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.$GPS Time of Week%Geometric Dilution of Precision&Position Dilution of Precision'Time Dilution of Precision( Horizontal Dilution of Precision)Vertical Dilution of Precision*GIndicates the position solution with which the DOPS message corresponds+,SBP class for message MSG_POS_ECEF (0x0209).The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).,GPS Time of Week-ECEF X coordinate.ECEF Y coordinate/ECEF Z coordinate0Position accuracy estimate.1%Number of satellites used in solution2 Status flags3+SBP class for message MSG_POS_LLH (0x020A).This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. If the rover receiver knows the surveyed position of the base station and has an RTK solution, this reports a pseudo-absolute position solution using the base station position and the rover's RTK baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).4GPS Time of Week5Latitude6 Longitude7Height above WGS84 ellipsoid8&Horizontal position accuracy estimate.9$Vertical position accuracy estimate.:&Number of satellites used in solution.; Status flags<1SBP 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 Week>Baseline ECEF X coordinate?Baseline ECEF Y coordinate@Baseline ECEF Z coordinateAPosition accuracy estimateB%Number of satellites used in solutionC Status flagsD0SBP 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).EGPS Time of WeekFBaseline North coordinateGBaseline East coordinateHBaseline Down coordinateI%Horizontal position accuracy estimateJ#Vertical position accuracy estimateK%Number of satellites used in solutionL Status flagsM,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).NGPS Time of WeekOVelocity ECEF X coordinatePVelocity ECEF Y coordinateQVelocity ECEF Z coordinateRVelocity accuracy estimateS%Number of satellites used in solutionT Status flagsU+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).VGPS Time of WeekWVelocity North coordinateXVelocity East coordinateYVelocity Down coordinateZ%Horizontal velocity accuracy estimate[#Vertical velocity accuracy estimate\%Number of satellites used in solution] Status flags^4SBP 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 Week`Headinga%Number of satellites used in solutionb Status flagsc3SBP class for message MSG_AGE_CORRECTIONS (0x0210).[This message reports the Age of the corrections used for the current Differential solutiondGPS Time of Weeke1Age of the corrections (0xFFFF indicates invalid)f2SBP 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.gGPS week numberh3GPS time of week rounded to the nearest millisecondiONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)jStatus flags (reserved)k.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.lGPS Time of WeekmGeometric Dilution of PrecisionnPosition Dilution of PrecisionoTime Dilution of Precisionp Horizontal Dilution of PrecisionqVertical Dilution of Precisionr2SBP 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).sGPS Time of WeektECEF X coordinateuECEF Y coordinatevECEF Z coordinatew<Position accuracy estimate (not implemented). Defaults to 0.x%Number of satellites used in solutiony Status flagsz1SBP 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~HeightGHorizontal position accuracy estimate (not implemented). Defaults to 0.EVertical position accuracy estimate (not implemented). Defaults to 0.&Number of satellites used in solution. Status flags7SBP 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 WeekBaseline ECEF X coordinateBaseline ECEF Y coordinateBaseline ECEF Z coordinatePosition accuracy estimate%Number of satellites used in solution Status flags6SBP 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).GPS Time of WeekBaseline North coordinateBaseline East coordinateBaseline Down coordinateGHorizontal position accuracy estimate (not implemented). Defaults to 0.EVertical position accuracy estimate (not implemented). Defaults to 0.%Number of satellites used in solution Status flags2SBP 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 WeekVelocity ECEF X coordinateVelocity ECEF Y coordinateVelocity ECEF Z coordinate<Velocity accuracy estimate (not implemented). Defaults to 0.%Number of satellites used in solutionStatus flags (reserved)1SBP 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).GPS Time of WeekVelocity North coordinateVelocity East coordinateVelocity Down coordinateGHorizontal velocity accuracy estimate (not implemented). Defaults to 0.EVertical velocity accuracy estimate (not implemented). Defaults to 0.%Number of satellites used in solutionStatus 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| !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]     ^_`abcde !"#$%f&ghij'()*+,k-lmnopq./012345r6stuvwxy789:;<=>?@zA{|}~BCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~@ !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]    ^_`abcde !"f&ghij'()k-lmnopq./012r6stuvwxy789:;<=zA{|}~BCDEFGHIMNOPQRSTUVZ[\]^_`abfghijklmnostuvwxyz{  !"#$%&'()*+,-./0123 456789:;<=>?@ABCD EFGHIJKLMNOPQRSTU VWXYZ[\]     ^_`abcde !"#$%f&ghij'()*+,k-lmnopq./012345r6stuvwxy789:;<=>?@z A{|}~BCDEFGHIJKLMNOPQRSTUVWXY Z[\]^_`abcdefghijklmnopqr stuvwxyz{|}~)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.  )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 referenceIssue of ephemeris dataIssue 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 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 referenceIssue of ephemeris dataIssue of clock data%Values common for all ephemeris typesPosition of the GEO at time toeVelocity of the GEO at time toe#Acceleration of the GEO at time toe5Time offset of the GEO clock w.r.t. SBAS Network Time/Drift of the GEO clock w.r.t. SBAS Network Time7SBP 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.%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 sys%Values common for all ephemeris types Position of the GEO at time toe Velocity of the GEO at time toe #Acceleration of the GEO at time toe 5Time offset of the GEO clock w.r.t. SBAS Network Time /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 nominal!Correction to the SV time"!Equipment delay between L1 and L2#7Position 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 invalid'Issue of ephemeris data(3SBP 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 L2*BAmplitude of the sine harmonic correction term to the orbit radius+DAmplitude of the cosine harmonic correction term to the orbit radius,MAmplitude of the cosine harmonic correction term to the argument of latitude-KAmplitude of the sine harmonic correction term to the argument of latitude.MAmplitude of the cosine harmonic correction term to the angle of inclination/KAmplitude of the sine harmonic correction term to the angle of inclination0Mean motion difference1Mean anomaly at reference time2Eccentricity of satellite orbit3+Square root of the semi-major axis of orbit4:Longitude of ascending node of orbit plane at weekly epoch5Rate of right ascension6Argument of perigee7 Inclination8Inclination first derivative94Polynomial 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 week?Clock reference week number@ Is valid?ASatellite is healthy?BGNSS signal identifierCIssue of ephemeris dataDIssue of clock dataEReserved fieldF3SBP class for message MSG_EPHEMERIS_DEP_A (0x001A). Deprecated.G*Group delay differential between L1 and L2HBAmplitude of the sine harmonic correction term to the orbit radiusIDAmplitude of the cosine harmonic correction term to the orbit radiusJMAmplitude of the cosine harmonic correction term to the argument of latitudeKKAmplitude of the sine harmonic correction term to the argument of latitudeLMAmplitude of the cosine harmonic correction term to the angle of inclinationMKAmplitude of the sine harmonic correction term to the angle of inclinationNMean motion differenceOMean anomaly at reference timePEccentricity of satellite orbitQ+Square root of the semi-major axis of orbitR:Longitude of ascending node of orbit plane at weekly epochSRate of right ascensionTArgument of perigeeU InclinationVInclination first derivativeW4Polynomial clock correction coefficient (clock bias)X5Polynomial clock correction coefficient (clock drift)Y=Polynomial clock correction coefficient (rate of clock drift)Z Time of week[ Week number\Clock reference time of week]Clock reference week number^ Is valid?_Satellite is healthy?`PRN being trackeda3SBP class for message MSG_EPHEMERIS_DEP_B (0x0046). Deprecated.b*Group delay differential between L1 and L2cBAmplitude of the sine harmonic correction term to the orbit radiusdDAmplitude of the cosine harmonic correction term to the orbit radiuseMAmplitude of the cosine harmonic correction term to the argument of latitudefKAmplitude of the sine harmonic correction term to the argument of latitudegMAmplitude of the cosine harmonic correction term to the angle of inclinationhKAmplitude of the sine harmonic correction term to the angle of inclinationiMean motion differencejMean anomaly at reference timekEccentricity of satellite orbitl+Square root of the semi-major axis of orbitm:Longitude of ascending node of orbit plane at weekly epochnRate of right ascensionoArgument of perigeep InclinationqInclination first derivativer4Polynomial clock correction coefficient (clock bias)s5Polynomial clock correction coefficient (clock drift)t=Polynomial clock correction coefficient (rate of clock drift)u Time of weekv Week numberwClock reference time of weekxClock reference week numbery Is valid?zSatellite is healthy?{PRN being tracked|Issue of ephemeris data}3SBP 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.~*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 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 WeekSatellite numberzbit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid.5SBP class for message MSG_GROUP_DELAY_DEP_B (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./SBP class for message MSG_GROUP_DELAY (0x0094).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 identifierReference time of almanacUser Range AccuracyCurve fit interval)Status of almanac, 1 = valid, 0 = invalidSatellite 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.GNSS signal identifierReference time of almanacUser Range AccuracyCurve fit interval)Status of almanac, 1 = valid, 0 = invalidSatellite 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.3SBP class for message MSG_ALMANAC_GPS_DEP (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.#Values common for all almanac typesMean 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 Inclination4Polynomial clock correction coefficient (clock bias)5Polynomial clock correction coefficient (clock drift)/SBP class for message MSG_ALMANAC_GPS (0x0072).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.#Values common for all almanac typesMean 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 Inclination4Polynomial clock correction coefficient (clock bias)5Polynomial clock correction coefficient (clock drift)3SBP class for message MSG_ALMANAC_GLO_DEP (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.#Values common for all almanac typesQLongitude of the first ascending node of the orbit in PZ-90.02 coordinate system(Time of the first ascending node passage+Value of inclination at instant of t_lambda0Value of Draconian period at instant of t_lambda&Rate of change of the Draconian period#Eccentricity at instant of t_lambda*Argument of perigee at instant of t_lambda/SBP class for message MSG_ALMANAC_GLO (0x0073).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.#Values common for all almanac typesQLongitude of the first ascending node of the orbit in PZ-90.02 coordinate system(Time of the first ascending node passage+Value of inclination at instant of t_lambda0Value of Draconian period at instant of t_lambda&Rate of change of the Draconian period#Eccentricity at instant of t_lambda*Argument of perigee at instant of t_lambda.SBP class for message MSG_GLO_BIASES (0x0075).The GLONASS L1/L2 Code-Phase biases allows to perform GPS+GLONASS integer ambiguity resolution for baselines with mixed receiver types (e.g. receiver of different manufacturers)GLONASS FDMA signals maskGLONASS L1 C/A Code-Phase BiasGLONASS L1 P Code-Phase BiasGLONASS L2 C/A Code-Phase BiasGLONASS L2 P Code-Phase Biasx      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|    } ~ !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~          !"#'()*+/01236789:;<=@ABCDEFGKLMNOPQRSTUVWXYZ[\]^_`abcghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{| } ~ !"#$%&'()-./0123456789:;<=>?@ABCDEFGHIJMNORSTWXYZ[\_`abcdghijklmqrstxyz{        !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~        !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|    } ~ !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~          )Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"[+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.,SBP class for message MSG_SET_TIME (0x0068).]This message sets up timing functionality using a coarse GPS time estimate sent by the host. )SBP class for message MSG_RESET (0x00B6).EThis message from the host resets the Piksi back into the bootloader.! Reset flags"-SBP class for message MSG_RESET_DEP (0x00B2).EThis message from the host resets the Piksi back into the bootloader.#.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.$,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 throughput.UART receive throughput/UART CRC error count0UART IO error count1BUART transmit buffer percentage utilization (ranges from 0 to 255)2AUART receive buffer percentage utilization (ranges from 0 to 255)3Period.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.4Average period5Minimum period6Maximum period7'Smoothed estimate of the current period8Latency.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.9Average latency:Minimum latency;Maximum 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 A?State of UART B@State of UART FTDI (USB logger)AUART communication latencyBObservation receipt periodC3SBP class for message MSG_UART_STATE_DEPA (0x0018). DeprecatedDState of UART AEState of UART BFState of UART FTDI (USB logger)GUART communication latencyH-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.I0Number of integer ambiguity hypotheses remainingJ2SBP class for message MSG_MASK_SATELLITE (0x002B).rThis message allows setting a mask to prevent a particular satellite from being used in various Piksi subsystems.K2Mask of systems that should ignore this satellite.L)GNSS signal for which the mask is appliedM6SBP class for message MSG_MASK_SATELLITE_DEP (0x001B). Deprecated.N2Mask of systems that should ignore this satellite.O)GNSS signal for which the mask is appliedP2SBP 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.Q Device V_inRProcessor V_intSProcessor V_auxTProcessor temperatureU#Frontend temperature (if available)V/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.WSequence numberXCommand line to executeY0SBP 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.ZSequence number[ Exit code\2SBP 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 error_5SBP class for message MSG_NETWORK_STATE_REQ (0x00BA).bRequest state of Piksi network interfaces. Output will be sent in MSG_NETWORK_STATE_RESP messages`6SBP 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.a(IPv4 address (all zero when unavailable)bIPv4 netmask CIDR notationc(IPv6 address (all zero when unavailable)dIPv6 netmask CIDR notationeNumber of Rx bytesfNumber of Tx bytesgInterface Nameh!Interface flags from SIOCGIFFLAGSi.SBP class for message MSG_SPECAN_DEP (0x0050). Deprecated.j Channel IDk!Receiver time of this observationl"Reference frequency of this packetm'Frequency step of points in this packetn"Reference amplitude of this packeto-Amplitude unit value of points in this packetp>Amplitude values (in the above units) of points in this packetq*SBP class for message MSG_SPECAN (0x0051).Spectrum analyzer packet.r Channel IDs!Receiver time of this observationt"Reference frequency of this packetu'Frequency step of points in this packetv"Reference amplitude of this packetw-Amplitude unit value of points in this packetx>Amplitude values (in the above units) of points in this packetyz{|}~ !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_    ` abcdefghijklmnopqrstuvwx !"#$%&'()*+,-./01yz~ !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_ ` abcdefghijklmnopqrstuvwx !"#$%&'+,-./01yz{|}~ !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_    `  abcdefghijklmnopqrstuvwx !"#$%&'()*+,-./01)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"21SBP 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.32SBP class for message MSG_SETTINGS_WRITE (0x00A0).4The setting message writes the device configuration.4A 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 0x42.57SBP class for message MSG_SETTINGS_WRITE_RESP (0x00AF).Return the status of a write request with the new value of the setting. If the requested value is rejected, the current value will be returned.6 Write status7XA NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE].85SBP class for message MSG_SETTINGS_READ_REQ (0x00A4).3The setting message reads the device configuration.9A 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)>?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].?RAn index into the device settings, with values ranging from 0 to length(settings)@XA NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE].A?SBP class for message MSG_SETTINGS_READ_BY_INDEX_DONE (0x00A6).?The settings message for indicating end of the settings values.B5SBP 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.CXA NULL-terminated and delimited string with contents [SECTION_SETTING, SETTING, VALUE].H2DEFGH3I4JKLM5N67OPQRS8T9UVWXYZ:[;\]^_`<a=bcdef>g?@hijklAmnopqrsBtCuvwxy-2DE3I4J5N67OP8T9UVW:[;\]<a=bc>g?@hiAmnopBtCuy62DEFGH3I4JKLM5N67OPQRS8T9UVWXYZ:[;\]^_`<a=bcdef>g?@hijklAmnopqrsBtCuvwxy)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" z+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.{Cause of startup| Startup type}Reserved~0SBP 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. Status flagsLatency of observation receipt#Number of signals from base stationCorrections source string-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. Status flags"z{|}~z{|}~z{|}~)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!"I;SBP class for message MSG_TRACKING_STATE_DETAILED (0x0021).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.jCarrier phase observation with typical sign convention. Valid only when PLL pessimistic lock is achieved.Carrier-to-Noise density~Lock time. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15.GNSS signal identifier.Carrier Doppler frequency.-Carrier Doppler frequency standard deviation.aNumber of seconds of continuous tracking. Specifies how much time signal is in continuous track.ATCXO clock offset. Valid only when valid clock valid flag is set.@TCXO clock drift. Valid only when valid clock valid flag is set.;Early-Prompt (EP) and Prompt-Late (PL) correlators spacing.=Acceleration. Valid only when acceleration valid flag is set.Synchronization status flags.TOW status flags.Tracking loop status flags.Navigation data status flags.Parameters sets flags.Miscellaneous flags.?SBP class for message MSG_TRACKING_STATE_DETAILED_DEP (0x0011). Deprecated.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.jCarrier phase observation with typical sign convention. Valid only when PLL pessimistic lock is achieved.Carrier-to-Noise density~Lock time. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15.GNSS signal identifier.Carrier Doppler frequency.-Carrier Doppler frequency standard deviation.aNumber of seconds of continuous tracking. Specifies how much time signal is in continuous track.ATCXO clock offset. Valid only when valid clock valid flag is set.@TCXO clock drift. Valid only when valid clock valid flag is set.;Early-Prompt (EP) and Prompt-Late (PL) correlators spacing.=Acceleration. Valid only when acceleration valid flag is set.Synchronization status flags.TOW status flags.Tracking loop status flags.Navigation data status flags.Parameters sets flags.Miscellaneous flags.TrackingChannelState.RTracking channel state for a specific satellite signal and measured signal power.GNSS signal being tracked'Frequency channel number (GLONASS only)4Carrier-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 (0x002C).VWhen enabled, a tracking channel can output the correlations at each update interval.Tracking channel of originGNSS signal identifier#Early, Prompt and Late correlations3SBP class for message MSG_TRACKING_IQ_DEP (0x001C). Deprecated.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 state                           ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q                        $ % ( ) * + / 0 1 2 3 7 8 9 : = > ? @ A E F I J K L M Qm                           ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" R-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. SUser data payload R T S U V W X Y R T S U Y R T S U V W X Y)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone!" Z8An 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. Z [ \ ] ^ _ ` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~                            ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ ` a b c Z [ \ ] ^ _ ` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~                            ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ Z [ \ ] ^ _ ` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~                            ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ ` a b c)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone   +,!0"#1$5%678&<=>'B(C)G*HIMNTOPQRSUYZ[\]^v_`abwc{de|}~fghijklmnopqrstu      !$%&'*+,/014567:;<n=>?@oAsBCDEtuvwxF|GHIJ}~KLMNOPQRSTUVWXYZ[\]^_`abcdefghijklm    !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]    ^_`abcde !"f&ghij'()k-lmnopq./012r6stuvwxy789:;<=zA{|}~BCDEFGHIMNOPQRSTUVZ[\]^_`abfghijklmnostuvwxyz{    !"#'()*+/01236789:;<=@ABCDEFGKLMNOPQRSTUVWXYZ[\]^_`abcghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{| } ~ !"#$%&'()-./0123456789:;<=>?@ABCDEFGHIJMNORSTWXYZ[\_`abcdghijklmqrstxyz{  yz~ !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_ ` abcdefghijklmnopqrstuvwx !"#$%&'+,-./012DE3I4J5N67OP8T9UVW:[;\]<a=bc>g?@hiAmnopBtCuyz{|}~                        $ % ( ) * + / 0 1 2 3 7 8 9 : = > ? @ A E F I J K L M Q R T S U Y Z [ \ ] ^ _ ` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~                            ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ d !"#$%&'()*+,-./0123456789:;<=>?5@ABC6DEFG9HIJKLM;NOPQR<STUV>WXYZ[\]^_`ab]cdefghijklmnopqrstuvwxyz{|}~lqtx{}       !"#$%&'()*+,-./012 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ ` a b c d 3 e f g h 8 i j k l m n o p = q r s t u v w x B y z { | } ~   G       T               a                 c                                                                                                                                    ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ ` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~                                                                        $             ,            5             =            F             K         N       S         Z           b       ! " # $ % k & ' ( ) * + , - . / 0 1 s 2 3 4 5 6 7 8 9 : ; < | = > ? @ A B C D E F G H  I J K L M N O P Q R S  T U V W X Y Z [ \ ] ^ _ ` a b cdefghijkldmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~y|      !"#$%&'()*+,-./00123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~4Pn  q   tz !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrsttuvwxyz{|}}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~         !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghij"klmn8opqrstuvwxyz{|}~NRTW[_cei                                  ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ ` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~                                                                                               sbp-2.3.2-LWaylKfxaymJuapJG8nnVDSwiftNav.CRC16SwiftNav.SBP.TypesSwiftNav.SBP.THSwiftNav.SBP.BootloadSwiftNav.SBP.ExtEventsSwiftNav.SBP.FileIoSwiftNav.SBP.FlashSwiftNav.SBP.GnssSwiftNav.SBP.AcquisitionSwiftNav.SBP.ImuSwiftNav.SBP.LoggingSwiftNav.SBP.MagSwiftNav.SBP.NavigationSwiftNav.SBP.NdbSwiftNav.SBP.ObservationSwiftNav.SBP.PiksiSwiftNav.SBP.SettingsSwiftNav.SBP.SystemSwiftNav.SBP.TrackingSwiftNav.SBP.UserSwiftNav.SBP.Msg SwiftNav.SBPcrc16tableMsg _msgSBPType _msgSBPSender _msgSBPLen_msgSBPPayload _msgSBPCrcBytesmsgSBPPreamble defaultSenderToSBPtoSBPunBytesHasMsgmsg msgSBPCrc msgSBPLen msgSBPPayload msgSBPSender msgSBPTypecheckCrc $fToJSONMsg $fToJSONBytes $fFromJSONMsg$fFromJSONBytes $fBinaryMsg $fHasMsgMsgmakeSBPmakeJSONMsgBootloaderHandshakeReqMsgBootloaderHandshakeResp!_msgBootloaderHandshakeResp_flags#_msgBootloaderHandshakeResp_versionMsgBootloaderJumpToApp_msgBootloaderJumpToApp_jumpMsgNapDeviceDnaReqMsgNapDeviceDnaResp_msgNapDeviceDnaResp_dnaMsgBootloaderHandshakeDepA%_msgBootloaderHandshakeDepA_handshakemsgBootloaderHandshakeReq!$fBinaryMsgBootloaderHandshakeReq $fToSBPMsgBootloaderHandshakeReq#$fFromJSONMsgBootloaderHandshakeReqmsgBootloaderHandshakeResp"$fBinaryMsgBootloaderHandshakeResp!$fToSBPMsgBootloaderHandshakeResp$$fFromJSONMsgBootloaderHandshakeResp msgBootloaderHandshakeResp_flags"msgBootloaderHandshakeResp_versionmsgBootloaderJumpToApp$fBinaryMsgBootloaderJumpToApp$fToSBPMsgBootloaderJumpToApp 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_doppler_fPackedObsContent_packedObsContent_P_packedObsContent_L_packedObsContent_D_packedObsContent_cn0_packedObsContent_lock_packedObsContent_flags_packedObsContent_sidMsgObs_msgObs_header _msgObs_obs MsgBasePosLlh_msgBasePosLlh_lat_msgBasePosLlh_lon_msgBasePosLlh_heightMsgBasePosEcef_msgBasePosEcef_x_msgBasePosEcef_y_msgBasePosEcef_z_ephemerisCommonContent_sid_ephemerisCommonContent_toe_ephemerisCommonContent_ura$_ephemerisCommonContent_fit_interval_ephemerisCommonContent_valid#_ephemerisCommonContent_health_bits_ephemerisCommonContentDepA_sid_ephemerisCommonContentDepA_toe_ephemerisCommonContentDepA_ura(_ephemerisCommonContentDepA_fit_interval!_ephemerisCommonContentDepA_valid'_ephemerisCommonContentDepA_health_bitsMsgEphemerisGpsDepE_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_iodcMsgEphemerisGps_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_iodc_msgEphemerisSbasDepA_common_msgEphemerisSbasDepA_pos_msgEphemerisSbasDepA_vel_msgEphemerisSbasDepA_acc_msgEphemerisSbasDepA_a_gf0_msgEphemerisSbasDepA_a_gf1MsgEphemerisGloDepA_msgEphemerisGloDepA_common_msgEphemerisGloDepA_gamma_msgEphemerisGloDepA_tau_msgEphemerisGloDepA_pos_msgEphemerisGloDepA_vel_msgEphemerisGloDepA_acc_msgEphemerisSbas_common_msgEphemerisSbas_pos_msgEphemerisSbas_vel_msgEphemerisSbas_acc_msgEphemerisSbas_a_gf0_msgEphemerisSbas_a_gf1MsgEphemerisGloDepB_msgEphemerisGloDepB_common_msgEphemerisGloDepB_gamma_msgEphemerisGloDepB_tau_msgEphemerisGloDepB_pos_msgEphemerisGloDepB_vel_msgEphemerisGloDepB_accMsgEphemerisGloDepC_msgEphemerisGloDepC_common_msgEphemerisGloDepC_gamma_msgEphemerisGloDepC_tau_msgEphemerisGloDepC_d_tau_msgEphemerisGloDepC_pos_msgEphemerisGloDepC_vel_msgEphemerisGloDepC_acc_msgEphemerisGloDepC_fcnMsgEphemerisGlo_msgEphemerisGlo_common_msgEphemerisGlo_gamma_msgEphemerisGlo_tau_msgEphemerisGlo_d_tau_msgEphemerisGlo_pos_msgEphemerisGlo_vel_msgEphemerisGlo_acc_msgEphemerisGlo_fcn_msgEphemerisGlo_iodMsgEphemerisDepD_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_reservedMsgEphemerisDepA_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_prnMsgEphemerisDepB_msgEphemerisDepB_tgd_msgEphemerisDepB_c_rs_msgEphemerisDepB_c_rc_msgEphemerisDepB_c_uc_msgEphemerisDepB_c_us_msgEphemerisDepB_c_ic_msgEphemerisDepB_c_is_msgEphemerisDepB_dn_msgEphemerisDepB_m0_msgEphemerisDepB_ecc_msgEphemerisDepB_sqrta_msgEphemerisDepB_omega0_msgEphemerisDepB_omegadot_msgEphemerisDepB_w_msgEphemerisDepB_inc_msgEphemerisDepB_inc_dot_msgEphemerisDepB_af0_msgEphemerisDepB_af1_msgEphemerisDepB_af2_msgEphemerisDepB_toe_tow_msgEphemerisDepB_toe_wn_msgEphemerisDepB_toc_tow_msgEphemerisDepB_toc_wn_msgEphemerisDepB_valid_msgEphemerisDepB_healthy_msgEphemerisDepB_prn_msgEphemerisDepB_iodeMsgEphemerisDepC_msgEphemerisDepC_tgd_msgEphemerisDepC_c_rs_msgEphemerisDepC_c_rc_msgEphemerisDepC_c_uc_msgEphemerisDepC_c_us_msgEphemerisDepC_c_ic_msgEphemerisDepC_c_is_msgEphemerisDepC_dn_msgEphemerisDepC_m0_msgEphemerisDepC_ecc_msgEphemerisDepC_sqrta_msgEphemerisDepC_omega0_msgEphemerisDepC_omegadot_msgEphemerisDepC_w_msgEphemerisDepC_inc_msgEphemerisDepC_inc_dot_msgEphemerisDepC_af0_msgEphemerisDepC_af1_msgEphemerisDepC_af2_msgEphemerisDepC_toe_t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MsgCwResults MsgCwStartMsgResetFilters_msgResetFilters_filter MsgInitBaseMsgThreadState_msgThreadState_name_msgThreadState_cpu_msgThreadState_stack_free UARTChannel_uARTChannel_tx_throughput_uARTChannel_rx_throughput_uARTChannel_crc_error_count_uARTChannel_io_error_count_uARTChannel_tx_buffer_level_uARTChannel_rx_buffer_levelPeriod _period_avg _period_pmin _period_pmax_period_currentLatency _latency_avg _latency_lmin _latency_lmax_latency_current MsgUartState_msgUartState_uart_a_msgUartState_uart_b_msgUartState_uart_ftdi_msgUartState_latency_msgUartState_obs_periodMsgUartStateDepa_msgUartStateDepa_uart_a_msgUartStateDepa_uart_b_msgUartStateDepa_uart_ftdi_msgUartStateDepa_latency MsgIarState_msgIarState_num_hypsMsgMaskSatellite_msgMaskSatellite_mask_msgMaskSatellite_sidMsgMaskSatelliteDep_msgMaskSatelliteDep_mask_msgMaskSatelliteDep_sidMsgDeviceMonitor_msgDeviceMonitor_dev_vin_msgDeviceMonitor_cpu_vint_msgDeviceMonitor_cpu_vaux!_msgDeviceMonitor_cpu_temperature _msgDeviceMonitor_fe_temperature MsgCommandReq_msgCommandReq_sequence_msgCommandReq_commandMsgCommandResp_msgCommandResp_sequence_msgCommandResp_codeMsgCommandOutput_msgCommandOutput_sequence_msgCommandOutput_lineMsgNetworkStateReqMsgNetworkStateResp!_msgNetworkStateResp_ipv4_address#_msgNetworkStateResp_ipv4_mask_size!_msgNetworkStateResp_ipv6_address#_msgNetworkStateResp_ipv6_mask_size_msgNetworkStateResp_rx_bytes_msgNetworkStateResp_tx_bytes#_msgNetworkStateResp_interface_name_msgNetworkStateResp_flags MsgSpecanDep_msgSpecanDep_channel_tag_msgSpecanDep_t_msgSpecanDep_freq_ref_msgSpecanDep_freq_step_msgSpecanDep_amplitude_ref_msgSpecanDep_amplitude_unit_msgSpecanDep_amplitude_value MsgSpecan_msgSpecan_channel_tag _msgSpecan_t_msgSpecan_freq_ref_msgSpecan_freq_step_msgSpecan_amplitude_ref_msgSpecan_amplitude_unit_msgSpecan_amplitude_value msgAlmanac$fBinaryMsgAlmanac$fToSBPMsgAlmanac$fFromJSONMsgAlmanac msgSetTime$fBinaryMsgSetTime$fToSBPMsgSetTime$fFromJSONMsgSetTimemsgReset$fBinaryMsgReset$fToSBPMsgReset$fFromJSONMsgResetmsgReset_flags msgResetDep$fBinaryMsgResetDep$fToSBPMsgResetDep$fFromJSONMsgResetDep msgCwResults$fBinaryMsgCwResults$fToSBPMsgCwResults$fFromJSONMsgCwResults msgCwStart$fBinaryMsgCwStart$fToSBPMsgCwStart$fFromJSONMsgCwStartmsgResetFilters$fBinaryMsgResetFilters$fToSBPMsgResetFilters$fFromJSONMsgResetFiltersmsgResetFilters_filter msgInitBase$fBinaryMsgInitBase$fToSBPMsgInitBase$fFromJSONMsgInitBasemsgThreadState$fBinaryMsgThreadState$fToSBPMsgThreadState$fFromJSONMsgThreadStatemsgThreadState_cpumsgThreadState_namemsgThreadState_stack_free$fBinaryUARTChannel$fFromJSONUARTChanneluARTChannel_crc_error_countuARTChannel_io_error_countuARTChannel_rx_buffer_leveluARTChannel_rx_throughputuARTChannel_tx_buffer_leveluARTChannel_tx_throughput$fBinaryPeriod$fFromJSONPeriod period_avgperiod_current period_pmax period_pmin$fBinaryLatency$fFromJSONLatency 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