<!-- $Id$ -->
<!-- ublox UBX Binary Protocol description -->

<!DOCTYPE ubx SYSTEM "ubx.dtd">

<ubx>
  <class name="NAV" ID="0x01">
    <message name="POSLLH" ID="0x02" length="28">
      <field name="ITOW" format="U4" unit="ms"/>
      <field name="LON" format="I4" scaling="1e-7" unit="deg"/>
      <field name="LAT" format="I4" scaling="1e-7" unit="deg"/>
      <field name="HEIGHT" format="I4" unit="mm"/>
      <field name="HMSL" format="I4" unit="mm"/>
      <field name="Hacc" format="U4" unit="mm"/>
      <field name="Vacc" format="U4" unit="mm"/>
    </message>

    <message name="DOP" ID="0x04" length="18">
      <field name="ITOW" format="U4" unit="ms"/>
      <field name="GDOP" format="U2"/>
      <field name="PDOP" format="U2"/>
      <field name="TDOP" format="U2"/>
      <field name="VDOP" format="U2"/>
      <field name="HDOP" format="U2"/>
      <field name="NDOP" format="U2"/>
      <field name="EDOP" format="U2"/>
    </message>

    <message name="SOL" ID="0x06" length="52">
      <field name="ITOW" format="U4" unit="ms"/>
      <field name="Frac" format="I4" unit="ns"/>
      <field name="week" format="I2"/>
      <field name="GPSfix" format="U1"/>
      <field name="Flags" format="U1"/>
      <field name="ECEF_X" format="I4" unit="cm"/>
      <field name="ECEF_Y" format="I4" unit="cm"/>
      <field name="ECEF_Z" format="I4" unit="cm"/>
      <field name="Pacc" format="U4"/>
      <field name="ECEFVX" format="I4" unit="cm/s"/>
      <field name="ECEFVY" format="I4" unit="cm/s"/>
      <field name="ECEFVZ" format="I4" unit="cm/s"/>
      <field name="Sacc" format="U4"/>
      <field name="PDOP" format="U2"/>
      <field name="res1" format="U1"/>
      <field name="numSV" format="U1"/>
      <field name="res2" format="U4"/>
    </message>

    <message name="POSUTM" ID="0x08" length="18">
      <field name="ITOW" format="U4" unit="ms"/>
      <field name="EAST" format="I4" unit="cm"/>
      <field name="NORTH" format="I4" unit="cm"/>
      <field name="ALT" format="I4" unit="cm"/>
      <field name="ZONE" format="I1"/>
      <field name="HEM" format="I1"/>
    </message>

    <message name="STATUS" ID="0x03" length="16">
      <field name="ITOW" format="U4" unit="ms"/>
      <field name="GPSfix" format="U1"/>
      <field name="Flags" format="U1"/>
      <field name="DiffS" format="U1"/>
      <field name="res" format="U1"/>
      <field name="TTFF" format="U4"/>
      <field name="MSSS" format="U4"/>
    </message>

    <message name="VELNED" ID="0x12" length="36">
      <field name="ITOW" format="U4" unit="ms"/>
      <field name="VEL_N" format="I4" unit="cm/s"/>
      <field name="VEL_E" format="I4" unit="cm/s"/>
      <field name="VEL_D" format="I4" unit="cm/s"/>
      <field name="Speed" format="U4" unit="cm/s"/>
      <field name="GSpeed" format="U4" unit="cm/s"/>
      <field name="Heading" format="I4" scaling="1e-5" unit="deg"/>
      <field name="SAcc" format="U4" unit="cm/s"/>
      <field name="CAcc" format="U4" scaling="1e-5" unit="deg"/>
    </message>

    <message name="SVINFO" ID="0x30">
      <field name="ITOW" format="U4" unit="ms"/>
      <field name="NCH" format="U1"/>
      <field name="RES1" format="U1"/>
      <field name="RES2" format="U2"/>
      <block times="NCH" length="12">
        <field name="chn" format="U1"/>
        <field name="SVID" format="U1"/>
        <field name="Flags" format="U1"/>
        <field name="QI" format="I1"/>
        <field name="CNO" format="U1" unit="dbHz"/>
        <field name="Elev" format="I1" unit="deg"/>
        <field name="Azim" format="I2" unit="deg"/>
        <field name="PRRes" format="I4" unit="cm"/>
      </block>
  </message>
 </class>

 <class name="CFG" ID="0x06">

    <message name="PRT" ID="0x00">
      <block length="20">
        <field name="PortId" format="U1"/>
        <field name="ReS0" format="U1"/>
        <field name="ReS1" format="U2"/>
        <field name="Mode" format="U4"/>
        <field name="Baudrate" format="U4"/>
        <field name="In_proto_mask" format="U2"/>
        <field name="Out_proto_mask" format="U2"/>
        <field name="Flags" format="U2"/>
        <field name="Res2" format="U2"/>
      </block>
    </message>

    <message name="MSG" ID="0x01">
      <block length="6">
        <field name="Class" format="U1"/>
        <field name="MsgId" format="U1"/>
        <field name="Rate0" format="U1"/>
        <field name="Rate1" format="U1"/>
        <field name="Rate2" format="U1"/>
        <field name="Rate3" format="U1"/>
      </block>
    </message>

    <message name="NAV" ID="0x03" length="28">
      <field name="Platform" format="U1"/>
      <field name="MinSvs" format="U1"/>
      <field name="MaxSvs" format="U1"/>
      <field name="MinCN0" format="U1"/>
      <field name="AbsCN0" format="U1"/>
      <field name="MinELE" format="U1"/>
      <field name="DGPSTTR" format="U1"/>
      <field name="DGPST0" format="U1"/>
      <field name="PRCAGE" format="U1"/>
      <field name="CPCAGE" format="U1"/>
      <field name="MinCLT" format="U2"/>
      <field name="AbsCLT" format="U2"/>
      <field name="MaxDR" format="U1"/>
      <field name="NAVOPT" format="U1"/>
      <field name="PDOP" format="U2"/>
      <field name="TDOP" format="U2"/>
      <field name="PACC" format="U2"/>
      <field name="TACC" format="U2"/>
      <field name="FACC" format="U2"/>
      <field name="StaticThres" format="U1"/>
      <field name="reserved" format="U1"/>
    </message>

    <message name="RST" ID="0x04" length="4">
      <field name="nav_bbr" format="U2"/>
      <field name="Reset" format="U1"/>
      <field name="Res" format="U1"/>
    </message>

    <message name="RATE" ID="0x08" length="6">
      <field name="Meas" format="U2"/>
      <field name="Nav" format="U2"/>
      <field name="Time" format="U2"/>
    </message>

    <message name="CFG" ID="0x09" length="12">
      <field name="Clear_mask" format="U4"/>
      <field name="Save_mask" format="U4"/>
      <field name="Load_mask" format="U4"/>
    </message>

    <message name="SBAS" ID="0x16">
      <field name="mode" format="U1"/>
      <field name="usage" format="U1"/>
      <field name="maxbas" format="U1"/>
      <field name="reserved" format="U1"/>
      <field name="scanmode" format="U4"/>
    </message>

    <message name="NAV5" ID="0x24" length="36">
      <field name="mask"   format="U2"/>
      <field name="dynModel" format="U1"/>
      <field name="fixModel" format="U1"/>
      <field name="fixedAlt" format="I4"/>
      <field name="fixedAltVar" format="U4"/>
      <field name="minElev" format="I1"/>
      <field name="drLimit" format="U1"/>
      <field name="dDop" format="U2"/>
      <field name="tDop" format="U2"/>
      <field name="pAcc" format="U2"/>
      <field name="tAcc" format="U2"/>
      <field name="staticHoldThresh" format="U1"/>
      <field name="res1" format="U1"/>
      <field name="res2" format="U4"/>
      <field name="res3" format="U4"/>
      <field name="res4" format="U4"/>
     </message>
 </class>

 <class name="ACK" ID="0x05">

  <message name="ACK" ID="0x01" length="2">
    <field name="ClsID" format="U1"/>
    <field name="MsgID" format="U1"/>
  </message>
  <message name="NAK" ID="0x00" length="2">
    <field name="ClsID" format="U1"/>
    <field name="MsgID" format="U1"/>
  </message>

 </class>

 <class name="MON" ID="0x0A">

  <message name="GET_VER" ID="0x04" length="0">
  </message>

  <message name="VER" ID="0x04">
    <block length="1">
      <field name="c" format="U1"/>
    </block>
  </message>

 </class>

</ubx>