!j.8      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~                                                                            ! " # $ % & ' ( ) * + , - . / 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 { | } ~                                                                                                                                                                   ! " # $ % & ' ( ) * + , - . / 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 { | } ~                                                                                   !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~                                  ! " # $ % & ' ( ) * + , - . / 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 { | } ~                                                                                                                                                                   ! " # $ % & ' ( ) * + , - . / 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 { | } ~                                                                                                                                                                   ! " # $ % & ' ( ) * + , - . / 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 { | } ~                                                                                                                                                                   ! " # $ % & ' ( ) * + , - . / 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 { | } ~                                                                                                                                                                   ! " # $ % & ' ( ) * + , - . / 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 { | } ~                                                                                                                                       !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNonesbp9Calculate CCITT 16-bit Cyclical Redundancy Check (CRC16).)Copyright (C) 2015 Swift Navigation, Inc.LGPL-3Mark Fine <dev@swiftnav.com> experimentalportableNone"#O sbp<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.sbp4Uniquely identifies the type of the payload contentssbpyA unique identifier of the sending hardware. For v1.0, set to the 2 least significant bytes of the device serial numbersbp Byte-length of the payload fieldsbpBinary 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)sbpCyclic Redundancy Check (CRC) of the packet's binary data from the Message Type up to the end of Payload (does not include the Preamble)sbpCWrapper around ByteString for *JSON and Binary typeclass instances. sbp?Denotes the start of frame transmission. For v1.0, always 0x55. sbpKDefault sender ID. Intended for messages sent from the host to the device.sbpUClass of generic representation of specialized SBP messages into SBP message frames.sbprConvert 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> experimentalportableNoneRsbp]Derive ToSBP typeclass, given an SBP message type name and the name of the implemented type.sbp;Derive JSON stripping out prefixes of the implemented type..Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"##sbp4SBP 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.%sbpGPS Time of Week&sbpHeading'sbp%Number of satellites used in solution(sbp Status flags1sbp/SBP class for message MSG_ORIENT_QUAT (0x0220).This message reports the quaternion vector describing the vehicle body frame's orientation with respect to a local-level NED frame. The components of the vector should sum to a unit vector assuming that the LSB of each component as a value of 2^-31.3sbpGPS Time of Week4sbpReal component5sbp1st imaginary component6sbp2nd imaginary component7sbp3rd imaginary component8sbp!Estimated standard deviation of w9sbp!Estimated standard deviation of x:sbp!Estimated standard deviation of y;sbp!Estimated standard deviation of z<sbp Status flagsIsbp0SBP class for message MSG_ORIENT_EULER (0x0221).This message reports the yaw, pitch, and roll angles of the vehicle body frame. The rotations should applied intrinsically in the order yaw, pitch, and roll in order to rotate the from a frame aligned with the local-level NED frame to the vehicle body frame.KsbpGPS Time of WeekLsbp.rotation about the forward axis of the vehicleMsbp0rotation about the rightward axis of the vehicleNsbp/rotation about the downward axis of the vehicleOsbp$Estimated standard deviation of rollPsbp%Estimated standard deviation of pitchQsbp#Estimated standard deviation of yawRsbp Status flagsesbp0SBP class for message MSG_ANGULAR_RATE (0x0222).This message reports the orientation rates in the vehicle body frame. The values represent the measurements a strapped down gyroscope would make and are not equivalent to the time derivative of the Euler angles. The orientation and origin of the user frame is specified via device settings. By convention, the vehicle x-axis is expected to be aligned with the forward direction, while the vehicle y-axis is expected to be aligned with the right direction, and the vehicle z-axis should be aligned with the down direction.gsbpGPS Time of Weekhsbpangular rate about x axisisbpangular rate about y axisjsbpangular rate about z axisksbp Status flagsB#$%&'()123456789:;<=>?@AIJKLMNOPQRSTUVWXYZ[\]efghijklmnopqrst|}~B#$%&'()123456789:;<=>?@AIJKLMNOPQRSTUVWXYZ[\]efghijklmnopqrst|}~.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#0 sbp+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.sbpCause of startupsbp Startup typesbpReservedsbp0SBP 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.sbp Status flagssbpLatency of observation receiptsbp#Number of signals from base stationsbpCorrections source stringsbp-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.sbp Status flagssbp.SBP class for message MSG_INS_STATUS (0xFF03).rThe INS status message describes the state of the operation and initialization of the inertial navigation system.sbp Status flags.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalTportable Messages for reading, writing, and discovering device settings. SettingsNone"#w;sbp1SBP 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.sbp2SBP class for message MSG_SETTINGS_WRITE (0x00A0).The setting message writes the device configuration for a particular setting via A NULL-terminated and NULL-delimited string with contents !SECTION_SETTING\0SETTING\0VALUE\0 where the '\0' escape sequence denotes the NULL character and where quotation marks are omitted. A device will only process to this message when it is received from sender ID 0x42. An example string that could be sent to a device is "solution0soln_freq0100".sbp;A NULL-terminated and NULL-delimited string with contents !SECTION_SETTING\0SETTING\0VALUE\0sbp7SBP 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. The string field is a NULL-terminated and NULL-delimited string with contents !SECTION_SETTING\0SETTING\0VALUE\0 where the '\0' escape sequence denotes the NULL character and where quotation marks are omitted. An example string that could be sent from device is "solution0soln_freq0100".sbp Write statussbp6A NULL-terminated and delimited string with contents !SECTION_SETTING\0SETTING\0VALUE\0sbp5SBP class for message MSG_SETTINGS_READ_REQ (0x00A4).The setting message that reads the device configuration. The string field is a NULL-terminated and NULL-delimited string with contents SECTION_SETTING\0SETTING\0 where the '\0'D escape sequence denotes the NULL character and where quotation marks are omitted. An example string that could be sent to a device is "solution0soln_freq0". A device will only respond to this message when it is received from sender ID 0x42. A device should respond with a MSG_SETTINGS_READ_RESP message (msg_id 0x00A5).sbp;A NULL-terminated and NULL-delimited string with contents SECTION_SETTING\0SETTING\0sbp6SBP class for message MSG_SETTINGS_READ_RESP (0x00A5).The setting message wich which the device responds after a MSG_SETTING_READ_REQ is sent to device. The string field is a NULL- terminated and NULL-delimited string with contents !SECTION_SETTING\0SETTING\0VALUE\0 where the '\0' escape sequence denotes the NULL character and where quotation marks are omitted. An example string that could be sent from device is "solution0soln_freq0100".sbp;A NULL-terminated and NULL-delimited string with contents !SECTION_SETTING\0SETTING\0VALUE\0sbp>SBP class for message MSG_SETTINGS_READ_BY_INDEX_REQ (0x00A2).oThe settings message for iterating through the settings values. A device will respond to this message with a MSG_SETTINGS_READ_BY_INDEX_RESP.sbpRAn index into the device settings, with values ranging from 0 to length(settings)sbp?SBP class for message MSG_SETTINGS_READ_BY_INDEX_RESP (0x00A7).The settings message that reports the value of a setting at an index. In the string field, it reports NULL-terminated and delimited string with contents .SECTION_SETTING\0SETTING\0VALUE\0FORMAT_TYPE\0 . where the '\0' escape sequence denotes the NULL character and where quotation marks are omitted. The FORMAT_TYPE field is optional and denotes possible string values of the setting as a hint to the user. If included, the format type portion of the string has the format "enum:value1,value2,value3". An example string that could be sent from the device is "simulator0enabled0True0enum:True,False0"sbpRAn index into the device settings, with values ranging from 0 to length(settings)sbp6A NULL-terminated and delimited string with contents .SECTION_SETTING\0SETTING\0VALUE\0FORMAT_TYPE\0sbp?SBP class for message MSG_SETTINGS_READ_BY_INDEX_DONE (0x00A6).?The settings message for indicating end of the settings values.sbp5SBP 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.sbp6A NULL-terminated and delimited string with contents SECTION_SETTING\0SETTING\0VALUE.-&-&.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#v'sbp,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.)sbpGPS week number*sbp3GPS time of week rounded to the nearest millisecond+sbpONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000),sbpStatus flags (reserved)5sbp,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.7sbp"Indicates source and time validity8sbp3GPS time of week rounded to the nearest millisecond9sbpYear:sbpMonth (range 1 .. 12);sbpdays in the month (range 1-31)<sbphours of day (range 0-23)=sbpminutes of hour (range 0-59)>sbp+seconds of minute (range 0-60) rounded down?sbp)nanoseconds of second (range 0-999999999)Lsbp(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.NsbpGPS Time of WeekOsbpGeometric Dilution of PrecisionPsbpPosition Dilution of PrecisionQsbpTime Dilution of PrecisionRsbp Horizontal Dilution of PrecisionSsbpVertical Dilution of PrecisionTsbpGIndicates the position solution with which the DOPS message correspondsfsbp,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).hsbpGPS Time of WeekisbpECEF X coordinatejsbpECEF Y coordinateksbpECEF Z coordinatelsbp%Position estimated standard deviationmsbp%Number of satellites used in solutionnsbp Status flags~sbp0SBP class for message MSG_POS_ECEF_COV (0x0214).4The position solution message reports absolute Earth Centered Earth Fixed (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of the position solution. The message also reports the upper triangular portion of the 3x3 covariance matrix. If the 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).sbpGPS Time of WeeksbpECEF X coordinatesbpECEF Y coordinatesbpECEF Z coordinatesbpEstimated variance of xsbpEstimated covariance of x and ysbpEstimated covariance of x and zsbpEstimated variance of ysbpEstimated covariance of y and zsbpEstimated variance of zsbp%Number of satellites used in solutionsbp Status flagssbp+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).sbpGPS Time of WeeksbpLatitudesbp LongitudesbpHeight above WGS84 ellipsoidsbp0Horizontal position estimated standard deviationsbp.Vertical position estimated standard deviationsbp&Number of satellites used in solution.sbp Status flagssbp/SBP class for message MSG_POS_LLH_COV (0x0211).)This position solution message reports the absolute geodetic coordinates and the status (single point vs pseudo-absolute RTK) of the position solution as well as the upper triangle of the 3x3 covariance matrix. The position information and Fix Mode flags should follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the covariance terms follow with that convention. Thus, covariances are reported against the "downward" measurement and care should be taken with the sign convention.sbpGPS Time of WeeksbpLatitudesbp LongitudesbpHeight above WGS84 ellipsoidsbpEstimated variance of northingsbp"Covariance of northing and eastingsbp/Covariance of northing and downward measurementsbpEstimated variance of eastingsbp.Covariance of easting and downward measurementsbp*Estimated variance of downward measurementsbp&Number of satellites used in solution.sbp Status flagssbp1SBP 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).sbpGPS Time of WeeksbpBaseline ECEF X coordinatesbpBaseline ECEF Y coordinatesbpBaseline ECEF Z coordinatesbp%Position estimated standard deviationsbp%Number of satellites used in solutionsbp Status flagssbp0SBP 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).sbpGPS Time of WeeksbpBaseline North coordinatesbpBaseline East coordinatesbpBaseline Down coordinatesbp0Horizontal position estimated standard deviationsbp.Vertical position estimated standard deviationsbp%Number of satellites used in solutionsbp Status flags sbp,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).sbpGPS Time of WeeksbpVelocity ECEF X coordinatesbpVelocity ECEF Y coordinatesbpVelocity ECEF Z coordinatesbp%Velocity estimated standard deviationsbp%Number of satellites used in solutionsbp Status flags&sbp0SBP class for message MSG_VEL_ECEF_COV (0x0215).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).(sbpGPS Time of Week)sbpVelocity ECEF X coordinate*sbpVelocity ECEF Y coordinate+sbpVelocity ECEF Z coordinate,sbpEstimated variance of x-sbpEstimated covariance of x and y.sbpEstimated covariance of x and z/sbpEstimated variance of y0sbpEstimated covariance of y and z1sbpEstimated variance of z2sbp%Number of satellites used in solution3sbp Status flagsCsbp+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).EsbpGPS Time of WeekFsbpVelocity North coordinateGsbpVelocity East coordinateHsbpVelocity Down coordinateIsbp0Horizontal velocity estimated standard deviationJsbp.Vertical velocity estimated standard deviationKsbp%Number of satellites used in solutionLsbp Status flagsasbp/SBP class for message MSG_VEL_NED_COV (0x0212).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). This message is similar to the MSG_VEL_NED, but it includes the upper triangular portion of the 3x3 covariance matrix.csbpGPS Time of WeekdsbpVelocity North coordinateesbpVelocity East coordinatefsbpVelocity Down coordinategsbp+Estimated variance of northward measurementhsbp0Covariance of northward and eastward measurementisbp0Covariance of northward and downward measurementjsbp*Estimated variance of eastward measurementksbp/Covariance of eastward and downward measurementlsbp*Estimated variance of downward measurementmsbp%Number of satellites used in solutionnsbp Status flagssbp,SBP class for message MSG_VEL_BODY (0x0213).This message reports the velocity in the Vehicle Body Frame. By convention, the x-axis should point out the nose of the vehicle and represent the forward direction, while as the y-axis should point out the right hand side of the vehicle. Since this is a right handed system, z should point out the bottom of the vehicle. The orientation and origin of the Vehicle Body Frame are specified via the device settings. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).sbpGPS Time of WeeksbpVelocity in x directionsbpVelocity in y directionsbpVelocity in z directionsbpEstimated variance of xsbpCovariance of x and ysbpCovariance of x and zsbpEstimated variance of ysbpCovariance of y and zsbpEstimated variance of zsbp%Number of satellites used in solutionsbp Status flagssbp3SBP class for message MSG_AGE_CORRECTIONS (0x0210).[This message reports the Age of the corrections used for the current Differential solutionsbpGPS Time of Weeksbp1Age of the corrections (0xFFFF indicates invalid)sbp2SBP 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.sbpGPS week numbersbp3GPS time of week rounded to the nearest millisecondsbpONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)sbpStatus flags (reserved)sbp.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.sbpGPS Time of WeeksbpGeometric Dilution of PrecisionsbpPosition Dilution of PrecisionsbpTime Dilution of Precisionsbp Horizontal Dilution of PrecisionsbpVertical Dilution of Precisionsbp2SBP 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).sbpGPS Time of WeeksbpECEF X coordinatesbpECEF Y coordinatesbpECEF Z coordinatesbp<Position accuracy estimate (not implemented). Defaults to 0.sbp%Number of satellites used in solutionsbp Status flagssbp1SBP 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).sbpGPS Time of WeeksbpLatitudesbp LongitudesbpHeightsbpGHorizontal position accuracy estimate (not implemented). Defaults to 0.sbpEVertical position accuracy estimate (not implemented). Defaults to 0.sbp&Number of satellites used in solution.sbp Status flags sbp7SBP 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).sbpGPS Time of WeeksbpBaseline ECEF X coordinatesbpBaseline ECEF Y coordinatesbpBaseline ECEF Z coordinatesbpPosition accuracy estimatesbp%Number of satellites used in solutionsbp Status flags&sbp6SBP 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).(sbpGPS Time of Week)sbpBaseline North coordinate*sbpBaseline East coordinate+sbpBaseline Down coordinate,sbpGHorizontal position accuracy estimate (not implemented). Defaults to 0.-sbpEVertical position accuracy estimate (not implemented). Defaults to 0..sbp%Number of satellites used in solution/sbp Status flags?sbp2SBP 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).AsbpGPS Time of WeekBsbpVelocity ECEF X coordinateCsbpVelocity ECEF Y coordinateDsbpVelocity ECEF Z coordinateEsbp<Velocity accuracy estimate (not implemented). Defaults to 0.Fsbp%Number of satellites used in solutionGsbpStatus flags (reserved)Xsbp1SBP 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).ZsbpGPS Time of Week[sbpVelocity North coordinate\sbpVelocity East coordinate]sbpVelocity Down coordinate^sbpGHorizontal velocity accuracy estimate (not implemented). Defaults to 0._sbpEVertical velocity accuracy estimate (not implemented). Defaults to 0.`sbp%Number of satellites used in solutionasbpStatus flags (reserved)qsbp: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).ssbpGPS Time of WeektsbpHeadingusbp%Number of satellites used in solutionvsbp Status flags'()*+,-56789:;<=>?@ABCDLMNOPQRSTUVWXYZ[\]^fghijklmnopqrstuv~ &'()*+,-./0123456789:;CDEFGHIJKLMNOPQRSTUVWXYabcdefghijklmnopqrstuvw &'()*+,-./01234567?@ABCDEFGHIJKLMNOPXYZ[\]^_`abcdefghiqrstuvwxyz{|}~'()*+,-56789:;<=>?@ABCDLMNOPQRSTUVWXYZ[\]^fghijklmnopqrstuv~ &'()*+,-./0123456789:;CDEFGHIJKLMNOPQRSTUVWXYabcdefghijklmnopqrstuvw &'()*+,-./01234567?@ABCDEFGHIJKLMNOPXYZ[\]^_`abcdefghiqrstuvwxyz{|}~.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#sbp+SBP class for message MSG_MAG_RAW (0x0902).Raw data from the magnetometer.sbp^Milliseconds since start of GPS week. If the high bit is set, the time is unknown or invalid.sbp5Milliseconds since start of GPS week, fractional partsbp'Magnetic field in the body frame X axissbp'Magnetic field in the body frame Y axissbp'Magnetic field in the body frame Z axis  .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#. sbp'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.sbp Logging levelsbpHuman-readable stringsbp'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.sbpsource identifiersbpprotocol identifiersbp&variable length wrapped binary messagesbp)SBP class for message MSG_TWEET (0x0012).All the news fit to tweet.sbpHuman-readable stringsbp-SBP class for message MSG_PRINT_DEP (0x0010). Deprecated.sbpHuman-readable string .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"# sbp+SBP class for message MSG_IMU_RAW (0x0900).Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself.sbp^Milliseconds since start of GPS week. If the high bit is set, the time is unknown or invalid.sbp5Milliseconds since start of GPS week, fractional partsbp$Acceleration in the IMU frame X axissbp$Acceleration in the IMU frame Y axissbp$Acceleration in the IMU frame Z axissbp$Angular rate around IMU frame X axissbp$Angular rate around IMU frame Y axissbp$Angular rate around IMU frame Z axissbp+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.sbpIMU typesbpRaw IMU temperaturesbpIMU configuration .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#sbp GnssSignal.JSignal identifier containing constellation, band, and satellite identifiersbpConstellation-specific satellite identifier. This field for Glonass can either be (100+FCN) where FCN is in [-7,+6] or the Slot ID in [1,28]sbp#Signal constellation, band and code sbpGnssSignalDep. Deprecated. sbpConstellation-specific satellite identifier. Note: unlike GnssSignal, GPS satellites are encoded as (PRN - 1). Other constellations do not have this offset. sbp#Signal constellation, band and code sbpReservedsbp GPSTimeDep.A wire-appropriate GPS time, defined as the number of milliseconds since beginning of the week on the Saturday/Sunday transition.sbp$Milliseconds since start of GPS weeksbpGPS week number#sbp GPSTimeSec.lA GPS time, defined as the number of seconds since beginning of the week on the Saturday/Sunday transition.%sbpSeconds since start of GPS week&sbpGPS week number/sbpGPSTime.A wire-appropriate receiver clock time, defined as the time since the beginning of the week on the Saturday/Sunday transition. In most cases, observations are epoch aligned so ns field will be 0.1sbp$Milliseconds since start of GPS week2sbpONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000)3sbpGPS week number<sbp 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.>sbpCarrier phase whole cycles?sbpCarrier phase fractional part(     #$%&'(/012345<=>?@ABIJ(     #$%&'(/012345<=>?@ABIJ .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#NKsbpASBP class for message MSG_TRACKING_STATE_DETAILED_DEP_A (0x0021).zThe tracking message returns a set tracking channel parameters for a single tracking channel useful for debugging issues.MsbpReceiver clock time.NsbpTime 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.OsbpGPseudorange observation. Valid only when pseudorange valid flag is set.Psbp[Pseudorange observation standard deviation. Valid only when pseudorange valid flag is set.QsbpjCarrier phase observation with typical sign convention. Valid only when PLL pessimistic lock is achieved.RsbpCarrier-to-Noise densitySsbp~Lock time. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15.TsbpGNSS signal identifier.UsbpCarrier Doppler frequency.Vsbp-Carrier Doppler frequency standard deviation.WsbpaNumber of seconds of continuous tracking. Specifies how much time signal is in continuous track.XsbpATCXO clock offset. Valid only when valid clock valid flag is set.Ysbp@TCXO clock drift. Valid only when valid clock valid flag is set.Zsbp;Early-Prompt (EP) and Prompt-Late (PL) correlators spacing.[sbp=Acceleration. Valid only when acceleration valid flag is set.\sbpSynchronization status flags.]sbpTOW status flags.^sbpTracking loop status flags._sbpNavigation data status flags.`sbpParameters sets flags.asbpMiscellaneous flags.jsbp?SBP class for message MSG_TRACKING_STATE_DETAILED_DEP (0x0011). Deprecated.lsbpReceiver clock time.msbpTime 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.nsbpGPseudorange observation. Valid only when pseudorange valid flag is set.osbp[Pseudorange observation standard deviation. Valid only when pseudorange valid flag is set.psbpjCarrier phase observation with typical sign convention. Valid only when PLL pessimistic lock is achieved.qsbpCarrier-to-Noise densityrsbp~Lock time. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15.ssbpGNSS signal identifier.tsbpCarrier Doppler frequency.usbp-Carrier Doppler frequency standard deviation.vsbpaNumber of seconds of continuous tracking. Specifies how much time signal is in continuous track.wsbpATCXO clock offset. Valid only when valid clock valid flag is set.xsbp@TCXO clock drift. Valid only when valid clock valid flag is set.ysbp;Early-Prompt (EP) and Prompt-Late (PL) correlators spacing.zsbp=Acceleration. Valid only when acceleration valid flag is set.{sbpSynchronization status flags.|sbpTOW status flags.}sbpTracking loop status flags.~sbpNavigation data status flags.sbpParameters sets flags.sbpMiscellaneous flags.sbpTrackingChannelState.RTracking channel state for a specific satellite signal and measured signal power.sbpGNSS signal being trackedsbp'Frequency channel number (GLONASS only)sbp4Carrier-to-Noise density. Zero implies invalid cn0.sbp2SBP 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.sbpSignal tracking channel statesbpMeasurementState.Measurement Engine tracking channel state for a specific satellite signal and measured signal power. The mesid field for Glonass can either carry the FCN as 100 + FCN where FCN is in [-7, +6] or the Slot ID (from 1 to 28)sbpRMeasurement Engine GNSS signal being tracked (carries either Glonass FCN or SLOT)sbp4Carrier-to-Noise density. Zero implies invalid cn0.sbp5SBP class for message MSG_MEASUREMENT_STATE (0x0061).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.sbp ME signal tracking channel statesbpTrackingChannelCorrelation.DStructure containing in-phase and quadrature correlation components.sbpIn-phase correlationsbpQuadrature correlationsbp/SBP class for message MSG_TRACKING_IQ (0x002C).VWhen enabled, a tracking channel can output the correlations at each update interval.sbpTracking channel of originsbpGNSS signal identifiersbp#Early, Prompt and Late correlationssbp3SBP class for message MSG_TRACKING_IQ_DEP (0x001C). Deprecated.sbpTracking channel of originsbpGNSS signal identifiersbp#Early, Prompt and Late correlationssbpTrackingChannelStateDepA. Deprecated.sbpStatus of tracking channelsbpPRN-1 being trackedsbpCarrier-to-noise densitysbp8SBP class for message MSG_TRACKING_STATE_DEP_A (0x0016). Deprecated.sbp Satellite tracking channel state*sbpTrackingChannelStateDepB. Deprecated.,sbpStatus of tracking channel-sbpGNSS signal being tracked.sbpCarrier-to-noise density6sbp8SBP class for message MSG_TRACKING_STATE_DEP_B (0x0013). Deprecated.8sbpSignal tracking channel stateKLMNOPQRSTUVWXYZ[\]^_`abjklmnopqrstuvwxyz{|}~ !"*+,-./6789:;<DKLMNOPQRSTUVWXYZ[\]^_`abjklmnopqrstuvwxyz{|}~ !"*+,-./6789:;<D .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#UJ(EsbpCodeBiasesContent.mCode biases are to be added to pseudorange. The corrections are conform with typical RTCMv3 MT1059 and 1065.Gsbp#Signal constellation, band and codeHsbpCode bias valueOsbpPhaseBiasesContent.}Phase biases are to be added to carrier phase measurements. The corrections are conform with typical RTCMv3 MT1059 and 1065.Qsbp#Signal constellation, band and codeRsbpIndicator for integer propertySsbp9Indicator for two groups of Wide-Lane(s) integer propertyTsbpQSignal phase discontinuity counter. Increased for every discontinuity in phase.UsbpPhase bias for specified signal^sbp3SBP class for message MSG_SSR_ORBIT_CLOCK (0x05DC).The precise orbit and clock correction message is to be applied as a delta correction to broadcast ephemeris and is typically an equivalent to the 1060 and 1066 RTCM message types`sbp%GNSS reference time of the correctionasbpGNSS signal identifier (16 bit)bsbp/Update interval between consecutive correctionscsbp{IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configurationdsbp!Issue of broadcast ephemeris dataesbpOrbit radial delta correctionfsbpOrbit along delta correctiongsbpOrbit along delta correctionhsbp)Velocity of orbit radial delta correctionisbp(Velocity of orbit along delta correctionjsbp(Velocity of orbit cross delta correctionksbpEC0 polynomial coefficient for correction of broadcast satellite clocklsbpEC1 polynomial coefficient for correction of broadcast satellite clockmsbpEC2 polynomial coefficient for correction of broadcast satellite clock{sbp3SBP class for message MSG_SSR_CODE_BIASES (0x05E1).The precise code biases message is to be added to the pseudorange of the corresponding signal to get corrected pseudorange. It is typically an equivalent to the 1059 and 1065 RTCM message types}sbp%GNSS reference time of the correction~sbpGNSS signal identifier (16 bit)sbp/Update interval between consecutive correctionssbp{IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configurationsbp/Code biases for the different satellite signalssbp4SBP class for message MSG_SSR_PHASE_BIASES (0x05E6).:The precise phase biases message contains the biases to be added to the carrier phase of the corresponding signal to get corrected carrier phase measurement, as well as the satellite yaw angle to be applied to compute the phase wind-up correction. It is typically an equivalent to the 1265 RTCM message typessbp%GNSS reference time of the correctionsbpGNSS signal identifier (16 bit)sbp/Update interval between consecutive correctionssbp{IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configurationsbp3Indicator for the dispersive phase biases property.sbp?Consistency indicator for Melbourne-Wubbena linear combinationssbpSatellite yaw anglesbpSatellite yaw angle ratesbp7Phase biases corrections for a satellite being tracked.SEFGHOPQRSTUVW^_`abcdefghijklmnopqrs{|}~SEFGHOPQRSTUVW^_`abcdefghijklmnopqrs{|}~ .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#_sbp,SBP class for message MSG_SBAS_RAW (0x7777).This message is sent once per second per SBAS satellite. ME checks the parity of the data block and sends only blocks that pass the check.sbpGNSS signal identifier.sbp0GPS time-of-week at the start of the data block.sbpSBAS message type (0-63)sbp>Raw SBAS data field of 212 bits (last byte padded with zeros).  .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#gsbp+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,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)SBP class for message MSG_RESET (0x00B6).EThis message from the host resets the Piksi back into the bootloader.sbp Reset flagssbp-SBP class for message MSG_RESET_DEP (0x00B2).EThis message from the host resets the Piksi back into the bootloader.sbp.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,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. sbp1SBP class for message MSG_RESET_FILTERS (0x0022).cThis message resets either the DGNSS Kalman filters or Integer Ambiguity Resolution (IAR) process. sbp Filter flagssbp-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.sbp0SBP 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.!sbpThread name (NULL terminated)"sbpcPercentage cpu use for this thread. Values range from 0 - 1000 and needs to be renormalized to 100#sbp Free stack space for this thread,sbp UARTChannel.Throughput, utilization, and error counts on the RX/TX buffers of this UART channel. The reported percentage values must be normalized..sbpUART transmit throughput/sbpUART receive throughput0sbpUART CRC error count1sbpUART IO error count2sbpBUART transmit buffer percentage utilization (ranges from 0 to 255)3sbpAUART receive buffer percentage utilization (ranges from 0 to 255)=sbpPeriod.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.?sbpAverage period@sbpMinimum periodAsbpMaximum periodBsbp'Smoothed estimate of the current periodOsbpLatency.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.QsbpAverage latencyRsbpMinimum latencySsbpMaximum latencyTsbp(Smoothed estimate of the current latency_sbp.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.asbpState of UART AbsbpState of UART BcsbpState of UART FTDI (USB logger)dsbpUART communication latencyesbpObservation receipt periodrsbp3SBP class for message MSG_UART_STATE_DEPA (0x0018). DeprecatedtsbpState of UART AusbpState of UART BvsbpState of UART FTDI (USB logger)wsbpUART communication latencysbp-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.sbp0Number of integer ambiguity hypotheses remainingsbp2SBP 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.sbp2Mask of systems that should ignore this satellite.sbp)GNSS signal for which the mask is appliedsbp6SBP class for message MSG_MASK_SATELLITE_DEP (0x001B). Deprecated.sbp2Mask of systems that should ignore this satellite.sbp)GNSS signal for which the mask is appliedsbp2SBP 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.sbp Device V_insbpProcessor V_intsbpProcessor V_auxsbpProcessor temperaturesbp#Frontend temperature (if available)sbp/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.sbpSequence numbersbpCommand line to executesbp0SBP 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.sbpSequence numbersbp Exit codesbp2SBP 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.sbpSequence numbersbp)Line of standard output or standard errorsbp5SBP class for message MSG_NETWORK_STATE_REQ (0x00BA).bRequest state of Piksi network interfaces. Output will be sent in MSG_NETWORK_STATE_RESP messagessbp6SBP 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.sbp(IPv4 address (all zero when unavailable)sbpIPv4 netmask CIDR notationsbp(IPv6 address (all zero when unavailable)sbpIPv6 netmask CIDR notationsbpNumber of Rx bytessbpNumber of Tx bytessbpInterface Namesbp!Interface flags from SIOCGIFFLAGS sbp NetworkUsage.PThe bandwidth usage for each interface can be reported within this struct and utilize multiple fields to fully specify the type of traffic that is being tracked. As either the interval of collection or the collection time may vary, both a timestamp and period field is provided, though may not necessarily be populated with a value. sbp1Duration over which the measurement was collectedsbp.Number of bytes handled in total within periodsbp)Number of bytes transmitted within periodsbp&Number of bytes received within periodsbpInterface Name sbp;SBP class for message MSG_NETWORK_BANDWIDTH_USAGE (0x00BD).2The bandwidth usage, a list of usage by interface."sbpUsage measurement array0sbp5SBP class for message MSG_CELL_MODEM_STATUS (0x00BE).If a cell modem is present on a piksi device, this message will be send periodically to update the host on the status of the modem and its various parameters.2sbp@Received cell signal strength in dBm, zero translates to unknown3sbp8BER as reported by the modem, zero translates to unknown4sbp$Unspecified data TBD for this schema>sbp.SBP class for message MSG_SPECAN_DEP (0x0050). Deprecated.@sbp Channel IDAsbp!Receiver time of this observationBsbp"Reference frequency of this packetCsbp'Frequency step of points in this packetDsbp"Reference amplitude of this packetEsbp-Amplitude unit value of points in this packetFsbp>Amplitude values (in the above units) of points in this packetRsbp*SBP class for message MSG_SPECAN (0x0051).Spectrum analyzer packet.Tsbp Channel IDUsbp!Receiver time of this observationVsbp"Reference frequency of this packetWsbp'Frequency step of points in this packetXsbp"Reference amplitude of this packetYsbp-Amplitude unit value of points in this packetZsbp>Amplitude values (in the above units) of points in this packet     !"#$,-./0123456=>?@ABCDEFGHOPQRSTUVWX_`abcdefghijrstuvwxyz{|}    !"#$%&'(0123456>?@ABCDEFGHIJRSTUVWXYZ[\]^_`abjklmnop     !"#$,-./0123456=>?@ABCDEFGHOPQRSTUVWX_`abcdefghijrstuvwxyz{|}    !"#$%&'(0123456>?@ABCDEFGHIJRSTUVWXYZ[\]^_`abjklmnop.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#_qsbpObservationHeader.%Header of a GNSS observation message.ssbpGNSS time of this observationtsbpTotal number of observations. First nibble is the size of the sequence (n), second nibble is the zero-indexed counter (ith packet of n){sbpDoppler.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.}sbpDoppler whole Hz~sbpDoppler fractional partsbpPackedObsContent.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.sbpPseudorange observationsbp7Carrier phase observation with typical sign convention.sbp1Doppler observation with typical sign convention.sbp4Carrier-to-Noise density. Zero implies invalid cn0.sbpnLock 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.sbpMeasurement 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.sbpGNSS signal identifier (16 bit)sbp'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.sbp#Header of a GPS observation messagesbpHPseudorange and carrier phase observation for a satellite being tracked.sbp0SBP 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.sbpLatitudesbp LongitudesbpHeightsbp1SBP 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.sbpECEF X coodinatesbpECEF Y coordinatesbpECEF Z coordinatesbpGNSS signal identifier (16 bit)sbpTime of EphemeridessbpUser Range AccuracysbpCurve fit intervalsbp+Status of ephemeris, 1 = valid, 0 = invalidsbpSatellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalidsbpGNSS signal identifier (16 bit)sbpTime of EphemeridessbpUser Range AccuracysbpCurve fit intervalsbp+Status of ephemeris, 1 = valid, 0 = invalidsbpfSatellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 Others: 0 = valid, non-zero = invalidsbpGNSS signal identifiersbpTime of EphemeridessbpUser Range AccuracysbpCurve fit intervalsbp+Status of ephemeris, 1 = valid, 0 = invalidsbpSatellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalidsbp7SBP 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.sbp%Values common for all ephemeris typessbp*Group delay differential between L1 and L2sbpBAmplitude of the sine harmonic correction term to the orbit radiussbpDAmplitude of the cosine harmonic correction term to the orbit radius sbpMAmplitude of the cosine harmonic correction term to the argument of latitude sbpKAmplitude of the sine harmonic correction term to the argument of latitude sbpMAmplitude of the cosine harmonic correction term to the angle of inclination sbpKAmplitude of the sine harmonic correction term to the angle of inclination sbpMean motion differencesbpMean anomaly at reference timesbpEccentricity of satellite orbitsbp+Square root of the semi-major axis of orbitsbp:Longitude of ascending node of orbit plane at weekly epochsbpRate of right ascensionsbpArgument of perigeesbp InclinationsbpInclination first derivativesbp4Polynomial clock correction coefficient (clock bias)sbp5Polynomial clock correction coefficient (clock drift)sbp=Polynomial clock correction coefficient (rate of clock drift)sbpClock referencesbpIssue of ephemeris datasbpIssue of clock data*sbp7SBP class for message MSG_EPHEMERIS_GPS_DEP_F (0x0086).lThis observation message has been deprecated in favor of ephemeris message using floats for size reduction.,sbp%Values common for all ephemeris types-sbp*Group delay differential between L1 and L2.sbpBAmplitude of the sine harmonic correction term to the orbit radius/sbpDAmplitude of the cosine harmonic correction term to the orbit radius0sbpMAmplitude of the cosine harmonic correction term to the argument of latitude1sbpKAmplitude of the sine harmonic correction term to the argument of latitude2sbpMAmplitude of the cosine harmonic correction term to the angle of inclination3sbpKAmplitude of the sine harmonic correction term to the angle of inclination4sbpMean motion difference5sbpMean anomaly at reference time6sbpEccentricity of satellite orbit7sbp+Square root of the semi-major axis of orbit8sbp:Longitude of ascending node of orbit plane at weekly epoch9sbpRate of right ascension:sbpArgument of perigee;sbp Inclination<sbpInclination first derivative=sbp4Polynomial clock correction coefficient (clock bias)>sbp5Polynomial clock correction coefficient (clock drift)?sbp=Polynomial clock correction coefficient (rate of clock drift)@sbpClock referenceAsbpIssue of ephemeris dataBsbpIssue of clock databsbp1SBP class for message MSG_EPHEMERIS_GPS (0x008A).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.dsbp%Values common for all ephemeris typesesbp*Group delay differential between L1 and L2fsbpBAmplitude of the sine harmonic correction term to the orbit radiusgsbpDAmplitude of the cosine harmonic correction term to the orbit radiushsbpMAmplitude of the cosine harmonic correction term to the argument of latitudeisbpKAmplitude of the sine harmonic correction term to the argument of latitudejsbpMAmplitude of the cosine harmonic correction term to the angle of inclinationksbpKAmplitude of the sine harmonic correction term to the angle of inclinationlsbpMean motion differencemsbpMean anomaly at reference timensbpEccentricity of satellite orbitosbp+Square root of the semi-major axis of orbitpsbp:Longitude of ascending node of orbit plane at weekly epochqsbpRate of right ascensionrsbpArgument of perigeessbp InclinationtsbpInclination first derivativeusbp4Polynomial clock correction coefficient (clock bias)vsbp5Polynomial clock correction coefficient (clock drift)wsbp=Polynomial clock correction coefficient (rate of clock drift)xsbpClock referenceysbpIssue of ephemeris datazsbpIssue of clock datasbp1SBP class for message MSG_EPHEMERIS_BDS (0x0089).The ephemeris message returns a set of satellite orbit parameters that is used to calculate BDS satellite position, velocity, and clock offset. Please see the BeiDou Navigation Satellite System SIS-ICD Version 2.1, Table 5-9 for more details.sbp%Values common for all ephemeris typessbpGroup delay differential for B1sbpGroup delay differential for B2sbpBAmplitude of the sine harmonic correction term to the orbit radiussbpDAmplitude of the cosine harmonic correction term to the orbit radiussbpMAmplitude of the cosine harmonic correction term to the argument of latitudesbpKAmplitude of the sine harmonic correction term to the argument of latitudesbpMAmplitude of the cosine harmonic correction term to the angle of inclinationsbpKAmplitude of the sine harmonic correction term to the angle of inclinationsbpMean motion differencesbpMean anomaly at reference timesbpEccentricity of satellite orbitsbp+Square root of the semi-major axis of orbitsbp:Longitude of ascending node of orbit plane at weekly epochsbpRate of right ascensionsbpArgument of perigeesbp InclinationsbpInclination first derivativesbp4Polynomial clock correction coefficient (clock bias)sbp5Polynomial clock correction coefficient (clock drift)sbp=Polynomial clock correction coefficient (rate of clock drift)sbpClock referencesbpIssue of ephemeris datasbpIssue of clock datasbp1SBP class for message MSG_EPHEMERIS_GAL (0x0095).The ephemeris message returns a set of satellite orbit parameters that is used to calculate Galileo satellite position, velocity, and clock offset. Please see the Signal In Space ICD OS SIS ICD, Issue 1.3, December 2016 for more details.sbp%Values common for all ephemeris typessbpE1-E5a Broadcast Group DelaysbpE1-E5b Broadcast Group DelaysbpBAmplitude of the sine harmonic correction term to the orbit radiussbpDAmplitude of the cosine harmonic correction term to the orbit radiussbpMAmplitude of the cosine harmonic correction term to the argument of latitudesbpKAmplitude of the sine harmonic correction term to the argument of latitudesbpMAmplitude of the cosine harmonic correction term to the angle of inclinationsbpKAmplitude of the sine harmonic correction term to the angle of inclinationsbpMean motion differencesbpMean anomaly at reference timesbpEccentricity of satellite orbitsbp+Square root of the semi-major axis of orbitsbp:Longitude of ascending node of orbit plane at weekly epochsbpRate of right ascensionsbpArgument of perigeesbp InclinationsbpInclination first derivativesbp4Polynomial clock correction coefficient (clock bias)sbp5Polynomial clock correction coefficient (clock drift)sbp=Polynomial clock correction coefficient (rate of clock drift)sbpClock referencesbpIssue of ephemeris datasbpIssue of clock data sbp%Values common for all ephemeris types sbpPosition of the GEO at time toe sbpVelocity of the GEO at time toe sbp#Acceleration of the GEO at time toe sbp5Time offset of the GEO clock w.r.t. SBAS Network Time sbp/Drift of the GEO clock w.r.t. SBAS Network Time 5sbp7SBP 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. 7sbp%Values common for all ephemeris types 8sbp>Relative deviation of predicted carrier frequency from nominal 9sbpCorrection to the SV time :sbp7Position of the SV at tb in PZ-90.02 coordinates system ;sbp>Velocity vector of the SV at tb in PZ-90.02 coordinates system <sbp?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys Ksbp8SBP class for message MSG_EPHEMERIS_SBAS_DEP_B (0x0084).lThis observation message has been deprecated in favor of ephemeris message using floats for size reduction. Msbp%Values common for all ephemeris types NsbpPosition of the GEO at time toe OsbpVelocity of the GEO at time toe Psbp#Acceleration of the GEO at time toe Qsbp5Time offset of the GEO clock w.r.t. SBAS Network Time Rsbp/Drift of the GEO clock w.r.t. SBAS Network Time csbp%Values common for all ephemeris types dsbpPosition of the GEO at time toe esbpVelocity of the GEO at time toe fsbp#Acceleration of the GEO at time toe gsbp5Time offset of the GEO clock w.r.t. SBAS Network Time hsbp/Drift of the GEO clock w.r.t. SBAS Network Time wsbp7SBP 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. ysbp%Values common for all ephemeris types zsbp>Relative deviation of predicted carrier frequency from nominal {sbpCorrection to the SV time |sbp7Position of the SV at tb in PZ-90.02 coordinates system }sbp>Velocity vector of the SV at tb in PZ-90.02 coordinates system ~sbp?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys sbp7SBP 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. sbp%Values common for all ephemeris types sbp>Relative deviation of predicted carrier frequency from nominal sbpCorrection to the SV time sbp!Equipment delay between L1 and L2 sbp7Position of the SV at tb in PZ-90.02 coordinates system sbp>Velocity vector of the SV at tb in PZ-90.02 coordinates system sbp?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys sbp>Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid sbp7SBP class for message MSG_EPHEMERIS_GLO_DEP_D (0x0088).lThis observation message has been deprecated in favor of ephemeris message using floats for size reduction. sbp%Values common for all ephemeris types sbp>Relative deviation of predicted carrier frequency from nominal sbpCorrection to the SV time sbp!Equipment delay between L1 and L2 sbp7Position of the SV at tb in PZ-90.02 coordinates system sbp>Velocity vector of the SV at tb in PZ-90.02 coordinates system sbp?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys sbp>Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid sbpIssue of ephemeris data sbp1SBP class for message MSG_EPHEMERIS_GLO (0x008B).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. sbp%Values common for all ephemeris types sbp>Relative deviation of predicted carrier frequency from nominal sbpCorrection to the SV time sbp!Equipment delay between L1 and L2 sbp7Position of the SV at tb in PZ-90.02 coordinates system sbp>Velocity vector of the SV at tb in PZ-90.02 coordinates system sbp?Acceleration vector of the SV at tb in PZ-90.02 coordinates sys sbp>Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid sbpIssue of ephemeris data sbp3SBP 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. sbp*Group delay differential between L1 and L2 sbpBAmplitude of the sine harmonic correction term to the orbit radius sbpDAmplitude of the cosine harmonic correction term to the orbit radius sbpMAmplitude of the cosine harmonic correction term to the argument of latitude sbpKAmplitude of the sine harmonic correction term to the argument of latitude sbpMAmplitude of the cosine harmonic correction term to the angle of inclination sbpKAmplitude of the sine harmonic correction term to the angle of inclination sbpMean motion difference sbpMean anomaly at reference time sbpEccentricity of satellite orbit sbp+Square root of the semi-major axis of orbit sbp:Longitude of ascending node of orbit plane at weekly epoch sbpRate of right ascension sbpArgument of perigee sbp Inclination sbpInclination first derivative sbp4Polynomial clock correction coefficient (clock bias) sbp5Polynomial clock correction coefficient (clock drift) sbp=Polynomial clock correction coefficient (rate of clock drift) sbp Time of week sbp Week number sbpClock reference time of week sbpClock reference week number sbp Is valid? sbpSatellite is healthy? sbpGNSS signal identifier sbpIssue of ephemeris data sbpIssue of clock data sbpReserved field sbp3SBP class for message MSG_EPHEMERIS_DEP_A (0x001A). Deprecated. sbp*Group delay differential between L1 and L2 sbpBAmplitude of the sine harmonic correction term to the orbit radius sbpDAmplitude of the cosine harmonic correction term to the orbit radius sbpMAmplitude of the cosine harmonic correction term to the argument of latitude sbpKAmplitude of the sine harmonic correction term to the argument of latitude sbpMAmplitude of the cosine harmonic correction term to the angle of inclination sbpKAmplitude of the sine harmonic correction term to the angle of inclination sbpMean motion difference sbpMean anomaly at reference time sbpEccentricity of satellite orbit sbp+Square root of the semi-major axis of orbit sbp:Longitude of ascending node of orbit plane at weekly epoch sbpRate of right ascension sbpArgument of perigee sbp Inclination sbpInclination first derivative sbp4Polynomial clock correction coefficient (clock bias) sbp5Polynomial clock correction coefficient (clock drift) sbp=Polynomial clock correction coefficient (rate of clock drift) !sbp Time of week "sbp Week number #sbpClock reference time of week $sbpClock reference week number %sbp Is valid? &sbpSatellite is healthy? 'sbpPRN being tracked Msbp3SBP class for message MSG_EPHEMERIS_DEP_B (0x0046). Deprecated. Osbp*Group delay differential between L1 and L2 PsbpBAmplitude of the sine harmonic correction term to the orbit radius QsbpDAmplitude of the cosine harmonic correction term to the orbit radius RsbpMAmplitude of the cosine harmonic correction term to the argument of latitude SsbpKAmplitude of the sine harmonic correction term to the argument of latitude TsbpMAmplitude of the cosine harmonic correction term to the angle of inclination UsbpKAmplitude of the sine harmonic correction term to the angle of inclination VsbpMean motion difference WsbpMean anomaly at reference time XsbpEccentricity of satellite orbit Ysbp+Square root of the semi-major axis of orbit Zsbp:Longitude of ascending node of orbit plane at weekly epoch [sbpRate of right ascension \sbpArgument of perigee ]sbp Inclination ^sbpInclination first derivative _sbp4Polynomial clock correction coefficient (clock bias) `sbp5Polynomial clock correction coefficient (clock drift) asbp=Polynomial clock correction coefficient (rate of clock drift) bsbp Time of week csbp Week number dsbpClock reference time of week esbpClock reference week number fsbp Is valid? gsbpSatellite is healthy? hsbpPRN being tracked isbpIssue of ephemeris data sbp3SBP 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. sbp*Group delay differential between L1 and L2 sbpBAmplitude of the sine harmonic correction term to the orbit radius sbpDAmplitude of the cosine harmonic correction term to the orbit radius sbpMAmplitude of the cosine harmonic correction term to the argument of latitude sbpKAmplitude of the sine harmonic correction term to the argument of latitude sbpMAmplitude of the cosine harmonic correction term to the angle of inclination sbpKAmplitude of the sine harmonic correction term to the angle of inclination sbpMean motion difference sbpMean anomaly at reference time sbpEccentricity of satellite orbit sbp+Square root of the semi-major axis of orbit sbp:Longitude of ascending node of orbit plane at weekly epoch sbpRate of right ascension sbpArgument of perigee sbp Inclination sbpInclination first derivative sbp4Polynomial clock correction coefficient (clock bias) sbp5Polynomial clock correction coefficient (clock drift) sbp=Polynomial clock correction coefficient (rate of clock drift) sbp Time of week sbp Week number sbpClock reference time of week sbpClock reference week number sbp Is valid? sbpSatellite is healthy? sbpGNSS signal identifier sbpIssue of ephemeris data sbpIssue of clock data sbpReserved field sbpObservationHeaderDep.$Header of a GPS observation message. sbpGPS time of this observation sbpTotal number of observations. First nibble is the size of the sequence (n), second nibble is the zero-indexed counter (ith packet of n) sbpCarrierPhaseDepA.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. sbpCarrier phase whole cycles sbpCarrier phase fractional part sbpPackedObsContentDepA. Deprecated. sbpPseudorange observation sbpDCarrier phase observation with opposite sign from typical convention sbpCarrier-to-Noise density sbpLock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed. sbp(PRN-1 identifier of the satellite signal sbpPackedObsContentDepB.Pseudorange and carrier phase observation for a satellite being tracked. Pseudoranges are referenced to a nominal pseudorange. sbpPseudorange observation sbpECarrier phase observation with opposite sign from typical convention. sbpCarrier-to-Noise density sbpLock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed. sbpGNSS signal identifier "sbpPackedObsContentDepC.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. $sbpPseudorange observation %sbp7Carrier phase observation with typical sign convention. &sbpCarrier-to-Noise density 'sbpLock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed. (sbpGNSS signal identifier 4sbp-SBP class for message MSG_OBS_DEP_A (0x0045). Deprecated. 6sbp#Header of a GPS observation message 7sbpHPseudorange and carrier phase observation for a satellite being tracked. Esbp-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. Gsbp#Header of a GPS observation message HsbpHPseudorange and carrier phase observation for a satellite being tracked. Ssbp-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. Usbp#Header of a GPS observation message VsbpHPseudorange and carrier phase observation for a satellite being tracked. asbp(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. csbp1Navigation Message Correction Table Valitidy Time vsbp<SBP class for message MSG_SV_CONFIGURATION_GPS_DEP (0x0091).?Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. xsbp1Navigation Message Correction Table Valitidy Time ysbp:L2C capability mask, SV32 bit being MSB, SV1 bit being LSB sbpGPS SV active mask sbpGPS L2C active mask sbpGPS L5 active mask sbpGLO active mask sbpGLO L2OF active mask sbpGLO L3 active mask sbp%SBAS active mask (PRNs 120..158, AN 7 62.2.2-1818 Table B-23, Ehttps://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf) sbp(SBAS L5 active mask (PRNs 120..158, AN 7 62.2.2-1818 Table B-23, Ehttps://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf) sbpBDS active mask sbpBDS D2NAV active mask sbpBDS B2 active mask sbpBDS B2A active mask sbpQZSS active mask sbpGAL active mask sbpGAL E5 active mask sbp1Navigation Message Correction Table Validity Time sbpGNSS capabilities masks sbp5SBP class for message MSG_GROUP_DELAY_DEP_A (0x0092).7Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. sbpData Predict Time of Week sbpSatellite number sbpzbit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid. sbp5SBP class for message MSG_GROUP_DELAY_DEP_B (0x0093).7Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. sbpData Predict Time of Week sbpGNSS signal identifier sbpzbit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid. sbp/SBP class for message MSG_GROUP_DELAY (0x0094).7Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. sbpData Predict Time of Week sbpGNSS signal identifier sbpzbit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid. sbpGNSS signal identifier sbpReference time of almanac sbpUser Range Accuracy sbpCurve fit interval sbp)Status of almanac, 1 = valid, 0 = invalid sbpSatellite 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. sbpGNSS signal identifier sbpReference time of almanac sbpUser Range Accuracy sbpCurve fit interval sbp)Status of almanac, 1 = valid, 0 = invalid sbpSatellite 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. %sbp3SBP 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. 'sbp#Values common for all almanac types (sbpMean anomaly at reference time )sbpEccentricity of satellite orbit *sbp+Square root of the semi-major axis of orbit +sbp:Longitude of ascending node of orbit plane at weekly epoch ,sbpRate of right ascension -sbpArgument of perigee .sbp Inclination /sbp4Polynomial clock correction coefficient (clock bias) 0sbp5Polynomial clock correction coefficient (clock drift) ?sbp/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. Asbp#Values common for all almanac types BsbpMean anomaly at reference time CsbpEccentricity of satellite orbit Dsbp+Square root of the semi-major axis of orbit Esbp:Longitude of ascending node of orbit plane at weekly epoch FsbpRate of right ascension GsbpArgument of perigee Hsbp Inclination Isbp4Polynomial clock correction coefficient (clock bias) Jsbp5Polynomial clock correction coefficient (clock drift) ]sbp3SBP 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. _sbp#Values common for all almanac types `sbpQLongitude of the first ascending node of the orbit in PZ-90.02 coordinate system asbp(Time of the first ascending node passage bsbp+Value of inclination at instant of t_lambda csbp0Value of Draconian period at instant of t_lambda dsbp&Rate of change of the Draconian period esbp#Eccentricity at instant of t_lambda fsbp*Argument of perigee at instant of t_lambda ysbp/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. {sbp#Values common for all almanac types |sbpQLongitude of the first ascending node of the orbit in PZ-90.02 coordinate system }sbp(Time of the first ascending node passage ~sbp+Value of inclination at instant of t_lambda sbp0Value of Draconian period at instant of t_lambda sbp&Rate of change of the Draconian period sbp#Eccentricity at instant of t_lambda sbp*Argument of perigee at instant of t_lambda sbp.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) sbpGLONASS FDMA signals mask sbpGLONASS L1 C/A Code-Phase Bias sbpGLONASS L1 P Code-Phase Bias sbpGLONASS L2 C/A Code-Phase Bias sbpGLONASS L2 P Code-Phase Biasqrst{|}~      !"*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZbcdefghijklmnopqrstuvwxyz{|}~                        ! " # $ % & ' ( ) * + , - 5 6 7 8 9 : ; < = > ? @ A B C K L M N O P Q R S T U V W X Y a b c d e f g h i j k l m n o w x y z { | } ~                        ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E 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 { | } ~                      " # $ % & ' ( ) * + , - 4 5 6 7 8 9 : ; < = E F G H I J K S T U V W X Y a b c d e f g h i j k l m n v w x y z { | } ~                        % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 ? @ A B C D E F G H I J K L M N O P Q R S T U ] ^ _ ` a b c d e f g h i j k l m n o p q y z { | } ~  qrst{|}~      !"*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZbcdefghijklmnopqrstuvwxyz{|}~                        ! " # $ % & ' ( ) * + , - 5 6 7 8 9 : ; < = > ? @ A B C K L M N O P Q R S T U V W X Y a b c d e f g h i j k l m n o w x y z { | } ~                        ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E 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 { | } ~                      " # $ % & ' ( ) * + , - 4 5 6 7 8 9 : ; < = E F G H I J K S T U V W X Y a b c d e f g h i j k l m n v w x y z { | } ~                        % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 ? @ A B C D E F G H I J K L M N O P Q R S T U ] ^ _ ` a b c d e f g h i j k l m n o p q y z { | } ~  .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"# @ sbp-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. sbpHW time in milliseconds. sbp Event type. sbpEvent object type. sbp Event result. sbp7Data source for STORE event, reserved for other events. sbpGNSS signal identifier, If object_type is Ephemeris OR Almanac, sid indicates for which signal the object belongs to. Reserved in other cases. sbpGNSS 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. sbpA 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) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#Ee sbp1SBP 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. sbp Target flags sbp"Starting address offset to program sbpHLength of set of addresses to program, counting up from starting address sbp6Data to program addresses with, with length N=addr_len sbp.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. sbpResponse flags sbp2SBP 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. sbp Target flags sbp$Starting address offset to read from sbpELength of set of addresses to read, counting up from starting address sbp3SBP class for message MSG_FLASH_READ_RESP (0x00E1).yThe flash read message reads a set of addresses of either the STM or M25 onboard flash. The device replies with a MSG_FLASH_READ_RESP message containing either the read data on success or a MSG_FLASH_DONE message containing the return code FLASH_INVALID_LEN (2) if the maximum read size is exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed range. sbp Target flags sbp$Starting address offset to read from sbpELength of set of addresses to read, counting up from starting address sbp/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. sbp Target flags sbpAFlash sector number to erase (0-11 for the STM, 0-15 for the M25) sbp9SBP 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. sbpFlash sector number to lock sbp;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. "sbpFlash sector number to unlock ,sbp5SBP 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. 7sbp6SBP 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.. 9sbpDevice unique ID Bsbp: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. Dsbp.Byte to write to the M25 flash status register@            ! " # $ , - . / 7 8 9 : B C D E F N@            ! " # $ , - . / 7 8 9 : B C D E F N.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"# Osbp3SBP 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. QsbpRead sequence number Rsbp File offset SsbpChunk size to read TsbpName of the file to read from ]sbp4SBP 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. _sbpRead sequence number `sbpContents of read file msbp7SBP 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. osbpRead sequence number psbp8The offset to skip the first n elements of the file list qsbpName of the directory to list |sbp8SBP 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. ~sbpRead sequence number sbpContents of read directory sbp1SBP 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. sbpName of the file to delete sbp4SBP 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. sbpWrite sequence number sbp7Offset into the file at which to start writing in bytes sbpName of the file to write to sbp&Variable-length array of data to write sbp5SBP 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. sbpWrite sequence number7 O P Q R S T U ] ^ _ ` a b c d e m n o p q r s t | } ~  7 O P Q R S T U ] ^ _ ` a b c d e m n o p q r s t | } ~  .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#C sbp-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. sbpGPS week number sbp3GPS time of week rounded to the nearest millisecond sbpONanosecond residual of millisecond-rounded TOW (ranges from -500000 to 500000) sbpFlags sbpPin number. 0..9 = DEBUG0..9. .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"# sbp<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=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. sbpBootloader flags sbpBootloader version number sbp:SBP class for message MSG_BOOTLOADER_JUMP_TO_APP (0x00B1).=The host initiates the bootloader to jump to the application. sbpIgnored by the device sbp6SBP 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. sbp7SBP 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. sbpG57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right.sbp>SBP class for message MSG_BOOTLOADER_HANDSHAKE_DEP_A (0x00B0). Deprecated.sbp+Version number string (not NULL terminated)  .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#ۉ2sbp.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.sbpCN/0 of best pointsbpCode phase of best pointsbpCarrier frequency of best pointsbp/GNSS signal for which acquisition was attemptedsbp4SBP class for message MSG_ACQ_RESULT_DEP_C (0x001F). Deprecated.!sbpCN/0 of best point"sbpCode phase of best point#sbpCarrier frequency of best point$sbp/GNSS signal for which acquisition was attempted1sbp4SBP class for message MSG_ACQ_RESULT_DEP_B (0x0014). Deprecated.3sbpySNR of best point. Currently in arbitrary SNR points, but will be in units of dB Hz in a later revision of this message.4sbpCode phase of best point5sbpCarrier frequency of best point6sbp/GNSS signal for which acquisition was attemptedCsbp4SBP class for message MSG_ACQ_RESULT_DEP_A (0x0015). Deprecated.EsbpiSNR of best point. Currently dimensonless, but will have units of dB Hz in the revision of this message.FsbpCode phase of best pointGsbpCarrier frequency of best pointHsbpMPRN-1 identifier of the satellite signal for which acquisition was attemptedUsbp 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.Wsbp(SV search job type (deep, fallback, etc)Xsbp-Acquisition status 1 is Success, 0 is FailureYsbp#CN0 value. Only valid if status is '1'ZsbpAcquisition integration time[sbp/GNSS signal for which acquisition was attempted\sbpAcq frequency bin width]sbp#Timestamp of the job complete event^sbp!Time spent to search for sid.code_sbpDoppler range lowest frequency`sbpDoppler range highest frequencyasbp8Doppler value of detected peak. Only valid if status is '1'bsbp4Codephase of detected peak. Only valid if status is '1'msbpAcqSvProfileDep. Deprecated.osbp(SV search job type (deep, fallback, etc)psbp-Acquisition status 1 is Success, 0 is Failureqsbp#CN0 value. Only valid if status is '1'rsbpAcquisition integration timessbp/GNSS signal for which acquisition was attemptedtsbpAcq frequency bin widthusbp#Timestamp of the job complete eventvsbp!Time spent to search for sid.codewsbpDoppler range lowest frequencyxsbpDoppler range highest frequencyysbp8Doppler value of detected peak. Only valid if status is '1'zsbp4Codephase of detected peak. Only valid if status is '1'sbp2SBP 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.sbp#SV profiles during acquisition timesbp6SBP class for message MSG_ACQ_SV_PROFILE_DEP (0x001E). Deprecated.sbp#SV profiles during acquisition timej !"#$%&'()123456789:;CDEFGHIJKLMUVWXYZ[\]^_`abcdefmnopqrstuvwxyz{|}~j !"#$%&'()123456789:;CDEFGHIJKLMUVWXYZ[\]^_`abcdefmnopqrstuvwxyz{|}~.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#sbp-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.sbpUser data payload.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#sbp,SBP class for message MSG_ODOMETRY (0x0903).Message representing the x component of vehicle velocity in the user frame at the odometry reference point(s) specified by the user. The offset for the odometry reference point and the definition and origin of the user frame are defined through the device settings interface. There are 4 possible user-defined sources of this message which are labeled arbitrarily source 0 through 3.sbpTime field representing either milliseconds in the GPS Week or local CPU time from the producing system in milliseconds. See the tow_source flag for the exact source of this timestamp.sbp1The signed forward component of vehicle velocity.sbp Status flags  .Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone"#lsbp8An 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.4      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~.Copyright (C) 2015-2018 Swift Navigation, Inc.LGPL-3#Swift Navigation <dev@swiftnav.com> experimentalportableNone(  #$%&'()123456789:;<=>?@AIJKLMNOPQRSTUVWXYZ[\]efghijklmnopqrst|}~&'()*+,-56789:;<=>?@ABCDLMNOPQRSTUVWXYZ[\]^fghijklmnopqrstuv~ &'()*+,-./0123456789:;CDEFGHIJKLMNOPQRSTUVWXYabcdefghijklmnopqrstuvw &'()*+,-./01234567?@ABCDEFGHIJKLMNOPXYZ[\]^_`abcdefghiqrstuvwxyz{|}~     #$%&'(/012345<=>?@ABIJKLMNOPQRSTUVWXYZ[\]^_`abjklmnopqrstuvwxyz{|}~ !"*+,-./6789:;<DEFGHOPQRSTUVW^_`abcdefghijklmnopqrs{|}~     !"#$,-./0123456=>?@ABCDEFGHOPQRSTUVWX_`abcdefghijrstuvwxyz{|}    !"#$%&'(0123456>?@ABCDEFGHIJRSTUVWXYZ[\]^_`abjklmnopqrst{|}~      !"*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZbcdefghijklmnopqrstuvwxyz{|}~                        ! " # $ % & ' ( ) * + , - 5 6 7 8 9 : ; < = > ? @ A B C K L M N O P Q R S T U V W X Y a b c d e f g h i j k l m n o w x y z { | } ~                        ! " # $ % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E 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 { | } ~                      " # $ % & ' ( ) * + , - 4 5 6 7 8 9 : ; < = E F G H I J K S T U V W X Y a b c d e f g h i j k l m n v w x y z { | } ~                        % & ' ( ) * + , - . / 0 1 2 3 4 5 6 7 ? @ A B C D E F G H I J K L M N O P Q R S T U ] ^ _ ` a b c d e f g h i j k l m n o p q y z { | } ~             ! " # $ , - . / 7 8 9 : B C D E F N O P Q R S T U ] ^ _ ` a b c d e m n o p q r s t | } ~   !"#$%&'()123456789:;CDEFGHIJKLMUVWXYZ[\]^_`abcdefmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~4      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~ !""#$%&'()*+,-./0123456789:;<<=>?@ABCDEFGHIIJKLMNOPQRSTUVWXYZ[\]^_``abcdefghijklmnopqrstuvwxyz{{|}~       !"#$$%&'()*+,-.//0123456789:;<<=>?@ABCDEFGHIJKLMNOPQRRSTUVWXYZ[\]^_`abcdefghijkklmnopqrstuvwxyz{|}~       !"#$$%&'()*+,-./0123456789:;<=>?@@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]]^_`abcdefghijklmnopqrstuvwxyzz{|}~      !"#$%&'()*+,-./01223456789:;<=>?@ABCDEFGHIJJKLMNOPQRSTUVWXYZ[\]^_`abbcdefghijklmnopqrstuvwxyz{{|}~                                                                                                          ! " # $ % & ' ( ) * + , - . . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L 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 { | } ~                                                                                                                                                                               ! " # $ $ % & ' ( ) * + , - . / 0 1 2 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N N O P Q R S T U V W X Y Z [ \ ] ^ _ ` a b c d e f g h i j j k l m n o p q r s t u v w x y z { | } ~                                   !"##$%&'()*+,-./01234556789:;<=>?@ABCDEFGGHIJKLMNOPQRSTUUVWXYZ[\]^_`aabcdefghijklmnnopqrstuvwxyz{|}~~      !"#$%%&'()*+,-../01234567899:;<=>?@ABCDEFGHIIJKLMNOPQRSTUVWXYZ[[\]^_`abcdefghiijklmnopqrstuvwxxyz{|}~       !"#$%&'()*+,-./0123456789:;<=>?@ABBCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyzz{|}~                                    ! " # $ % & ' ( ) * + , - . . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E 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 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 d e f g h h i j k l m n o p q r s t u v w x y z { | } ~                                                                                                                                                                             ! " # $ % & ' ( ) * + , - . / 0 1 2 3 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M 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 s t u v w x y z { | } ~                                                                                                                                                                          ! " # $ % & ' ( ) * + , - . / 0 1 2 3 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L L M N O P Q R S T U V W X Y Y Z [ \ ] ^ _ ` a b c d e f g g h i j k l m n o p q r s t t u v w x y z { | } ~                                                                                                                                                                                ! " # $ % & ' ( ) ) * + , - . / 0 1 2 3 4 5 6 7 8 9 : ; < < = > ? @ A B C D E E F G H I J K L M N O P P Q R S T U V W X Y Z [ \ \ ] ^ _ ` a b c d e f f g h i j k l m n o p p q r s t u v w x y z { | | } ~                                                                                                                                             !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcd sbp-2.4.0-56SAmbM2VZdI2jpNsFKRjySwiftNav.CRC16SwiftNav.SBP.TypesSwiftNav.SBP.OrientationSwiftNav.SBP.SystemSwiftNav.SBP.SettingsSwiftNav.SBP.NavigationSwiftNav.SBP.MagSwiftNav.SBP.LoggingSwiftNav.SBP.ImuSwiftNav.SBP.GnssSwiftNav.SBP.TrackingSwiftNav.SBP.SsrSwiftNav.SBP.SbasSwiftNav.SBP.PiksiSwiftNav.SBP.ObservationSwiftNav.SBP.NdbSwiftNav.SBP.FlashSwiftNav.SBP.FileIoSwiftNav.SBP.ExtEventsSwiftNav.SBP.BootloadSwiftNav.SBP.AcquisitionSwiftNav.SBP.UserSwiftNav.SBP.Vehicle SwiftNav.SBPSwiftNav.SBP.THSwiftNav.SBP.Msgcrc16Msg _msgSBPType _msgSBPSender _msgSBPLen_msgSBPPayload _msgSBPCrcBytesunBytesmsgSBPPreamble defaultSender $fShowBytes $fReadBytes $fEqBytes $fShowMsg $fReadMsg$fEqMsgToSBPtoSBPHasMsgmsg msgSBPCrc msgSBPLen msgSBPPayload msgSBPSender msgSBPTypecheckCrc $fToJSONMsg $fToJSONBytes $fFromJSONMsg$fFromJSONBytes $fBinaryMsg $fHasMsgMsgMsgBaselineHeading_msgBaselineHeading_tow_msgBaselineHeading_heading_msgBaselineHeading_n_sats_msgBaselineHeading_flagsmsgBaselineHeading$fBinaryMsgBaselineHeading$fShowMsgBaselineHeading$fReadMsgBaselineHeading$fEqMsgBaselineHeading$fToSBPMsgBaselineHeading$fFromJSONMsgBaselineHeading$fToJSONMsgBaselineHeading MsgOrientQuat_msgOrientQuat_tow_msgOrientQuat_w_msgOrientQuat_x_msgOrientQuat_y_msgOrientQuat_z_msgOrientQuat_w_accuracy_msgOrientQuat_x_accuracy_msgOrientQuat_y_accuracy_msgOrientQuat_z_accuracy_msgOrientQuat_flagsmsgBaselineHeading_flagsmsgBaselineHeading_headingmsgBaselineHeading_n_satsmsgBaselineHeading_tow msgOrientQuat$fBinaryMsgOrientQuat$fShowMsgOrientQuat$fReadMsgOrientQuat$fEqMsgOrientQuat$fToSBPMsgOrientQuat$fFromJSONMsgOrientQuat$fToJSONMsgOrientQuatMsgOrientEuler_msgOrientEuler_tow_msgOrientEuler_roll_msgOrientEuler_pitch_msgOrientEuler_yaw_msgOrientEuler_roll_accuracy_msgOrientEuler_pitch_accuracy_msgOrientEuler_yaw_accuracy_msgOrientEuler_flagsmsgOrientQuat_flagsmsgOrientQuat_towmsgOrientQuat_wmsgOrientQuat_w_accuracymsgOrientQuat_xmsgOrientQuat_x_accuracymsgOrientQuat_ymsgOrientQuat_y_accuracymsgOrientQuat_zmsgOrientQuat_z_accuracymsgOrientEuler$fBinaryMsgOrientEuler$fShowMsgOrientEuler$fReadMsgOrientEuler$fEqMsgOrientEuler$fToSBPMsgOrientEuler$fFromJSONMsgOrientEuler$fToJSONMsgOrientEulerMsgAngularRate_msgAngularRate_tow_msgAngularRate_x_msgAngularRate_y_msgAngularRate_z_msgAngularRate_flagsmsgOrientEuler_flagsmsgOrientEuler_pitchmsgOrientEuler_pitch_accuracymsgOrientEuler_rollmsgOrientEuler_roll_accuracymsgOrientEuler_towmsgOrientEuler_yawmsgOrientEuler_yaw_accuracymsgAngularRate$fBinaryMsgAngularRate$fShowMsgAngularRate$fReadMsgAngularRate$fEqMsgAngularRate$fToSBPMsgAngularRate$fFromJSONMsgAngularRate$fToJSONMsgAngularRatemsgAngularRate_flagsmsgAngularRate_towmsgAngularRate_xmsgAngularRate_ymsgAngularRate_z MsgStartup_msgStartup_cause_msgStartup_startup_type_msgStartup_reserved msgStartup$fBinaryMsgStartup$fShowMsgStartup$fReadMsgStartup$fEqMsgStartup$fToSBPMsgStartup$fFromJSONMsgStartup$fToJSONMsgStartupMsgDgnssStatus_msgDgnssStatus_flags_msgDgnssStatus_latency_msgDgnssStatus_num_signals_msgDgnssStatus_sourcemsgStartup_causemsgStartup_reservedmsgStartup_startup_typemsgDgnssStatus$fBinaryMsgDgnssStatus$fShowMsgDgnssStatus$fReadMsgDgnssStatus$fEqMsgDgnssStatus$fToSBPMsgDgnssStatus$fFromJSONMsgDgnssStatus$fToJSONMsgDgnssStatus MsgHeartbeat_msgHeartbeat_flagsmsgDgnssStatus_flagsmsgDgnssStatus_latencymsgDgnssStatus_num_signalsmsgDgnssStatus_source msgHeartbeat$fBinaryMsgHeartbeat$fShowMsgHeartbeat$fReadMsgHeartbeat$fEqMsgHeartbeat$fToSBPMsgHeartbeat$fFromJSONMsgHeartbeat$fToJSONMsgHeartbeat MsgInsStatus_msgInsStatus_flagsmsgHeartbeat_flags msgInsStatus$fBinaryMsgInsStatus$fShowMsgInsStatus$fReadMsgInsStatus$fEqMsgInsStatus$fToSBPMsgInsStatus$fFromJSONMsgInsStatus$fToJSONMsgInsStatusmsgInsStatus_flagsMsgSettingsSavemsgSettingsSave$fBinaryMsgSettingsSave$fShowMsgSettingsSave$fReadMsgSettingsSave$fEqMsgSettingsSave$fToSBPMsgSettingsSave$fFromJSONMsgSettingsSave$fToJSONMsgSettingsSaveMsgSettingsWrite_msgSettingsWrite_settingmsgSettingsWrite$fBinaryMsgSettingsWrite$fShowMsgSettingsWrite$fReadMsgSettingsWrite$fEqMsgSettingsWrite$fToSBPMsgSettingsWrite$fFromJSONMsgSettingsWrite$fToJSONMsgSettingsWriteMsgSettingsWriteResp_msgSettingsWriteResp_status_msgSettingsWriteResp_settingmsgSettingsWrite_settingmsgSettingsWriteResp$fBinaryMsgSettingsWriteResp$fShowMsgSettingsWriteResp$fReadMsgSettingsWriteResp$fEqMsgSettingsWriteResp$fToSBPMsgSettingsWriteResp$fFromJSONMsgSettingsWriteResp$fToJSONMsgSettingsWriteRespMsgSettingsReadReq_msgSettingsReadReq_settingmsgSettingsWriteResp_settingmsgSettingsWriteResp_statusmsgSettingsReadReq$fBinaryMsgSettingsReadReq$fShowMsgSettingsReadReq$fReadMsgSettingsReadReq$fEqMsgSettingsReadReq$fToSBPMsgSettingsReadReq$fFromJSONMsgSettingsReadReq$fToJSONMsgSettingsReadReqMsgSettingsReadResp_msgSettingsReadResp_settingmsgSettingsReadReq_settingmsgSettingsReadResp$fBinaryMsgSettingsReadResp$fShowMsgSettingsReadResp$fReadMsgSettingsReadResp$fEqMsgSettingsReadResp$fToSBPMsgSettingsReadResp$fFromJSONMsgSettingsReadResp$fToJSONMsgSettingsReadRespMsgSettingsReadByIndexReq 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$fReadMsgSettingsReadByIndexDone$fEqMsgSettingsReadByIndexDone!$fToSBPMsgSettingsReadByIndexDone$$fFromJSONMsgSettingsReadByIndexDone"$fToJSONMsgSettingsReadByIndexDoneMsgSettingsRegister_msgSettingsRegister_settingmsgSettingsRegister$fBinaryMsgSettingsRegister$fShowMsgSettingsRegister$fReadMsgSettingsRegister$fEqMsgSettingsRegister$fToSBPMsgSettingsRegister$fFromJSONMsgSettingsRegister$fToJSONMsgSettingsRegistermsgSettingsRegister_setting MsgGpsTime_msgGpsTime_wn_msgGpsTime_tow_msgGpsTime_ns_residual_msgGpsTime_flags msgGpsTime$fBinaryMsgGpsTime$fShowMsgGpsTime$fReadMsgGpsTime$fEqMsgGpsTime$fToSBPMsgGpsTime$fFromJSONMsgGpsTime$fToJSONMsgGpsTime MsgUtcTime_msgUtcTime_flags_msgUtcTime_tow_msgUtcTime_year_msgUtcTime_month_msgUtcTime_day_msgUtcTime_hours_msgUtcTime_minutes_msgUtcTime_seconds_msgUtcTime_nsmsgGpsTime_flagsmsgGpsTime_ns_residualmsgGpsTime_tow msgGpsTime_wn msgUtcTime$fBinaryMsgUtcTime$fShowMsgUtcTime$fReadMsgUtcTime$fEqMsgUtcTime$fToSBPMsgUtcTime$fFromJSONMsgUtcTime$fToJSONMsgUtcTimeMsgDops _msgDops_tow _msgDops_gdop _msgDops_pdop _msgDops_tdop _msgDops_hdop _msgDops_vdop_msgDops_flagsmsgUtcTime_daymsgUtcTime_flagsmsgUtcTime_hoursmsgUtcTime_minutesmsgUtcTime_month msgUtcTime_nsmsgUtcTime_secondsmsgUtcTime_towmsgUtcTime_yearmsgDops$fBinaryMsgDops $fShowMsgDops $fReadMsgDops $fEqMsgDops$fToSBPMsgDops$fFromJSONMsgDops$fToJSONMsgDops 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$fBinaryMsgPosEcef$fShowMsgPosEcef$fReadMsgPosEcef$fEqMsgPosEcef$fToSBPMsgPosEcef$fFromJSONMsgPosEcef$fToJSONMsgPosEcef 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msgResetDep$fBinaryMsgResetDep$fShowMsgResetDep$fReadMsgResetDep$fEqMsgResetDep$fToSBPMsgResetDep$fFromJSONMsgResetDep$fToJSONMsgResetDep MsgCwResults msgCwResults$fBinaryMsgCwResults$fShowMsgCwResults$fReadMsgCwResults$fEqMsgCwResults$fToSBPMsgCwResults$fFromJSONMsgCwResults$fToJSONMsgCwResults MsgCwStart msgCwStart$fBinaryMsgCwStart$fShowMsgCwStart$fReadMsgCwStart$fEqMsgCwStart$fToSBPMsgCwStart$fFromJSONMsgCwStart$fToJSONMsgCwStartMsgResetFilters_msgResetFilters_filtermsgResetFilters$fBinaryMsgResetFilters$fShowMsgResetFilters$fReadMsgResetFilters$fEqMsgResetFilters$fToSBPMsgResetFilters$fFromJSONMsgResetFilters$fToJSONMsgResetFilters MsgInitBasemsgResetFilters_filter msgInitBase$fBinaryMsgInitBase$fShowMsgInitBase$fReadMsgInitBase$fEqMsgInitBase$fToSBPMsgInitBase$fFromJSONMsgInitBase$fToJSONMsgInitBaseMsgThreadState_msgThreadState_name_msgThreadState_cpu_msgThreadState_stack_freemsgThreadState$fBinaryMsgThreadState$fShowMsgThreadState$fReadMsgThreadState$fEqMsgThreadState$fToSBPMsgThreadState$fFromJSONMsgThreadState$fToJSONMsgThreadState UARTChannel_uARTChannel_tx_throughput_uARTChannel_rx_throughput_uARTChannel_crc_error_count_uARTChannel_io_error_count_uARTChannel_tx_buffer_level_uARTChannel_rx_buffer_levelmsgThreadState_cpumsgThreadState_namemsgThreadState_stack_free$fBinaryUARTChannel$fShowUARTChannel$fReadUARTChannel$fEqUARTChannel$fFromJSONUARTChannel$fToJSONUARTChannelPeriod _period_avg _period_pmin _period_pmax_period_currentuARTChannel_crc_error_countuARTChannel_io_error_countuARTChannel_rx_buffer_leveluARTChannel_rx_throughputuARTChannel_tx_buffer_leveluARTChannel_tx_throughput$fBinaryPeriod $fShowPeriod $fReadPeriod $fEqPeriod$fFromJSONPeriod$fToJSONPeriodLatency _latency_avg _latency_lmin _latency_lmax_latency_current period_avgperiod_current period_pmax period_pmin$fBinaryLatency $fShowLatency $fReadLatency $fEqLatency$fFromJSONLatency$fToJSONLatency MsgUartState_msgUartState_uart_a_msgUartState_uart_b_msgUartState_uart_ftdi_msgUartState_latency_msgUartState_obs_period latency_avglatency_current latency_lmax latency_lmin msgUartState$fBinaryMsgUartState$fShowMsgUartState$fReadMsgUartState$fEqMsgUartState$fToSBPMsgUartState$fFromJSONMsgUartState$fToJSONMsgUartStateMsgUartStateDepa_msgUartStateDepa_uart_a_msgUartStateDepa_uart_b_msgUartStateDepa_uart_ftdi_msgUartStateDepa_latencymsgUartState_latencymsgUartState_obs_periodmsgUartState_uart_amsgUartState_uart_bmsgUartState_uart_ftdimsgUartStateDepa$fBinaryMsgUartStateDepa$fShowMsgUartStateDepa$fReadMsgUartStateDepa$fEqMsgUartStateDepa$fToSBPMsgUartStateDepa$fFromJSONMsgUartStateDepa$fToJSONMsgUartStateDepa MsgIarState_msgIarState_num_hypsmsgUartStateDepa_latencymsgUartStateDepa_uart_amsgUartStateDepa_uart_bmsgUartStateDepa_uart_ftdi msgIarState$fBinaryMsgIarState$fShowMsgIarState$fReadMsgIarState$fEqMsgIarState$fToSBPMsgIarState$fFromJSONMsgIarState$fToJSONMsgIarStateMsgMaskSatellite_msgMaskSatellite_mask_msgMaskSatellite_sidmsgIarState_num_hypsmsgMaskSatellite$fBinaryMsgMaskSatellite$fShowMsgMaskSatellite$fReadMsgMaskSatellite$fEqMsgMaskSatellite$fToSBPMsgMaskSatellite$fFromJSONMsgMaskSatellite$fToJSONMsgMaskSatelliteMsgMaskSatelliteDep_msgMaskSatelliteDep_mask_msgMaskSatelliteDep_sidmsgMaskSatellite_maskmsgMaskSatellite_sidmsgMaskSatelliteDep$fBinaryMsgMaskSatelliteDep$fShowMsgMaskSatelliteDep$fReadMsgMaskSatelliteDep$fEqMsgMaskSatelliteDep$fToSBPMsgMaskSatelliteDep$fFromJSONMsgMaskSatelliteDep$fToJSONMsgMaskSatelliteDepMsgDeviceMonitor_msgDeviceMonitor_dev_vin_msgDeviceMonitor_cpu_vint_msgDeviceMonitor_cpu_vaux!_msgDeviceMonitor_cpu_temperature 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msgCommandReq$fBinaryMsgCommandReq$fShowMsgCommandReq$fReadMsgCommandReq$fEqMsgCommandReq$fToSBPMsgCommandReq$fFromJSONMsgCommandReq$fToJSONMsgCommandReqMsgCommandResp_msgCommandResp_sequence_msgCommandResp_codemsgCommandReq_commandmsgCommandReq_sequencemsgCommandResp$fBinaryMsgCommandResp$fShowMsgCommandResp$fReadMsgCommandResp$fEqMsgCommandResp$fToSBPMsgCommandResp$fFromJSONMsgCommandResp$fToJSONMsgCommandRespMsgCommandOutput_msgCommandOutput_sequence_msgCommandOutput_linemsgCommandResp_codemsgCommandResp_sequencemsgCommandOutput$fBinaryMsgCommandOutput$fShowMsgCommandOutput$fReadMsgCommandOutput$fEqMsgCommandOutput$fToSBPMsgCommandOutput$fFromJSONMsgCommandOutput$fToJSONMsgCommandOutputMsgNetworkStateReqmsgCommandOutput_linemsgCommandOutput_sequencemsgNetworkStateReq$fBinaryMsgNetworkStateReq$fShowMsgNetworkStateReq$fReadMsgNetworkStateReq$fEqMsgNetworkStateReq$fToSBPMsgNetworkStateReq$fFromJSONMsgNetworkStateReq$fToJSONMsgNetworkStateReqMsgNetworkStateResp!_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$fBinaryMsgNetworkStateResp$fShowMsgNetworkStateResp$fReadMsgNetworkStateResp$fEqMsgNetworkStateResp$fToSBPMsgNetworkStateResp$fFromJSONMsgNetworkStateResp$fToJSONMsgNetworkStateResp NetworkUsage_networkUsage_duration_networkUsage_total_bytes_networkUsage_rx_bytes_networkUsage_tx_bytes_networkUsage_interface_namemsgNetworkStateResp_flags"msgNetworkStateResp_interface_name msgNetworkStateResp_ipv4_address"msgNetworkStateResp_ipv4_mask_size msgNetworkStateResp_ipv6_address"msgNetworkStateResp_ipv6_mask_sizemsgNetworkStateResp_rx_bytesmsgNetworkStateResp_tx_bytes$fBinaryNetworkUsage$fShowNetworkUsage$fReadNetworkUsage$fEqNetworkUsage$fFromJSONNetworkUsage$fToJSONNetworkUsageMsgNetworkBandwidthUsage$_msgNetworkBandwidthUsage_interfacesnetworkUsage_durationnetworkUsage_interface_namenetworkUsage_rx_bytesnetworkUsage_total_bytesnetworkUsage_tx_bytesmsgNetworkBandwidthUsage $fBinaryMsgNetworkBandwidthUsage$fShowMsgNetworkBandwidthUsage$fReadMsgNetworkBandwidthUsage$fEqMsgNetworkBandwidthUsage$fToSBPMsgNetworkBandwidthUsage"$fFromJSONMsgNetworkBandwidthUsage 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$fEqDoppler$fFromJSONDoppler$fToJSONDopplerPackedObsContent_packedObsContent_P_packedObsContent_L_packedObsContent_D_packedObsContent_cn0_packedObsContent_lock_packedObsContent_flags_packedObsContent_sid doppler_f doppler_i$fBinaryPackedObsContent$fShowPackedObsContent$fReadPackedObsContent$fEqPackedObsContent$fFromJSONPackedObsContent$fToJSONPackedObsContentMsgObs_msgObs_header _msgObs_obspackedObsContent_DpackedObsContent_LpackedObsContent_PpackedObsContent_cn0packedObsContent_flagspackedObsContent_lockpackedObsContent_sidmsgObs$fBinaryMsgObs $fShowMsgObs $fReadMsgObs $fEqMsgObs $fToSBPMsgObs$fFromJSONMsgObs$fToJSONMsgObs MsgBasePosLlh_msgBasePosLlh_lat_msgBasePosLlh_lon_msgBasePosLlh_height msgObs_header msgObs_obs msgBasePosLlh$fBinaryMsgBasePosLlh$fShowMsgBasePosLlh$fReadMsgBasePosLlh$fEqMsgBasePosLlh$fToSBPMsgBasePosLlh$fFromJSONMsgBasePosLlh$fToJSONMsgBasePosLlhMsgBasePosEcef_msgBasePosEcef_x_msgBasePosEcef_y_msgBasePosEcef_zmsgBasePosLlh_heightmsgBasePosLlh_latmsgBasePosLlh_lonmsgBasePosEcef$fBinaryMsgBasePosEcef$fShowMsgBasePosEcef$fReadMsgBasePosEcef$fEqMsgBasePosEcef$fToSBPMsgBasePosEcef$fFromJSONMsgBasePosEcef$fToJSONMsgBasePosEcefEphemerisCommonContent_ephemerisCommonContent_sid_ephemerisCommonContent_toe_ephemerisCommonContent_ura$_ephemerisCommonContent_fit_interval_ephemerisCommonContent_valid#_ephemerisCommonContent_health_bitsmsgBasePosEcef_xmsgBasePosEcef_ymsgBasePosEcef_z$fBinaryEphemerisCommonContent$fShowEphemerisCommonContent$fReadEphemerisCommonContent$fEqEphemerisCommonContent 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