gpsd/man/gpsd_json.xml

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<!DOCTYPE refentry PUBLIC
   "-//OASIS//DTD DocBook XML V4.1.2//EN"
   "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd" [
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<refentry id='gpsd_json.5'>
<refentryinfo><date>28 June 2020</date></refentryinfo>
<refmeta>
<refentrytitle>gpsd_json</refentrytitle>
<manvolnum>5</manvolnum>
<refmiscinfo class="source">The GPSD Project</refmiscinfo>
<refmiscinfo class="manual">GPSD Documentation</refmiscinfo>
</refmeta>
<refnamediv id='name'>
<refname>gpsd_json</refname>
<refpurpose>gpsd request/response protocol</refpurpose>
</refnamediv>

<refsect1 id='overview'><title>OVERVIEW</title>

<para><application>gpsd</application> is a service daemon that can be used
to monitor GPSes, DGPS receivers, Marine AIS broadcasts, and various other
location-related and kinematic sensors.</para>

<para>Clients may communicate with <application>gpsd</application> via
textual requests and responses over a socket. It is a bad idea for
applications to speak the protocol directly: rather, they should use
the <application>libgps</application> client library (for C; bindings
also exist for other languages) and take appropriate care to
conditionalize their code on the major and minor protocol version
symbols.</para>

<para>The GPSD protocol is built on top of JSON, JavaScript Object
Notation, as specified in RFC 7159: <citetitle>The JavaScript Object
Notation (JSON) Data Interchange Format</citetitle>. GPSD's use of
JSON is restricted in some ways that make parsing it in fixed-extent
languages (such as C) easier.</para>

<para>A request line is introduced by "?" and may include multiple
commands.  Commands begin with a command identifier, followed either
by a terminating ';' or by an equal sign "=" and a JSON object treated
as an argument.  Any ';' or newline indication (either LF or CR-LF)
after the end of a command is ignored. All request lines must be
composed of US-ASCII characters and may be no more than 80 characters
in length, exclusive of the trailing newline.</para>

<para>Responses are JSON objects all of which have a "class" attribute
the value of which is either the name of the invoking command.  There
are reports (including but not limited to as "TPV", "SKY", "DEVICE",
and "ERROR") which are not direct responses to commands.</para>

<para> The order of JSON attributes within a response object is never
significant, and you may specify command attributes in any
order. Responses never contain the special JSON value null; instead,
attributes with empty or undefined values are omitted. The length
limit for responses and reports is 1536 characters, including a trailing
newline; longer responses will be truncated, so client code must be
prepared for the possibility of invalid JSON fragments.</para>

<para>In JSON reports, if an attribute is present only if the parent
attribute is present or has a particular range, then the parent
attribute is emitted first.</para>

<para>There is one constraint on the order in which attributes will
be omitted. If an optional attribute is present only when a parent
attribute has a specified value or range of values, the parent
attribute will be emitted first to make parsing easier.</para>

<para>The next subsection section documents the core GPSD protocol.
Extensions are documented in the following subsections. The extensions
may not be supported in your <application>gpsd</application> instance
if it has been compiled with a restricted feature set.</para>

</refsect1>
<refsect1 id='core-protocol'><title>CORE SOCKET PROTOCOL</title>

<para>Here are the core-protocol responses:</para>

<variablelist>
<varlistentry>
<term>TPV</term>
<listitem>
<para>A TPV object is a time-position-velocity report. The "class" and "mode"
fields will reliably be present. The "mode" field will be emitted
before optional fields that may be absent when there is no fix. Error
estimates will be emitted after the fix components they're associated with.
Others may be reported or not depending on the fix quality.</para>

<para>All error estimates (epc, epd, epe, eph, ept, epv, epx, epy)
are guessed to be 95% confidence, may also be 50%, one sigma, or two
sigma confidence.  Many GNSS receivers do not specify a confidence level.
None specify how the value is calculated.  Use error estimates with
caution, and only as relative "goodness" indicators.  If the GPS reports
a value to gpsd, then gpsd will report that value.  Otherwise gpsd will
try to compute the value from the skyview.</para>

<table frame="all" pgwide="0"><title>TPV object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "TPV"</entry>
</row>
<row>
        <entry>device</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Name of the originating device.</entry>
</row>
<row>
        <entry>status</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>GPS fix status: %d, 2=DGPS fix, 3=RTK Fixed point,
4=RTK Floating point, 5=DR fix, 6=GNSSDR fix, 7=Time (surveyed) fix,
8=Simulated, 9=P(Y) fix, otherwise not present. Similar to FAA Quality
Indicator in NMEA.</entry>
</row>
<row>
        <entry>mode</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>NMEA mode: %d, 0=no mode value yet seen, 1=no fix, 2=2D,
3=3D.</entry>
</row>
<row>
        <entry>time</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Time/date stamp in ISO8601 format, UTC. May have a
fractional part of up to .001sec precision. May be absent if the mode
is not 2D or 3D.</entry>
</row>
<row>
        <entry>altHAE</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Altitude, height above allipsoid, in meters.  Probably
WGS84.</entry>
</row>
<row>
        <entry>altMSL</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>MSL Altitude in meters.  The geoid used is rarely specified
and is often inaccurate.  See the comments below on geoidSep.
altMSL is altHAE minus geoidSep.</entry>
</row>
<row>
        <entry>alt</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Deprecated.  Undefined.  Use altHAE or altMSL.</entry>
</row>
<row>
        <entry>climb</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Climb (positive) or sink (negative) rate, meters per
second.</entry>
</row>
<row>
        <entry>datum</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Current datum. Hopefully WGS84.</entry>
</row>
<row>
        <entry>depth</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Depth in meters.  Probably depth below the keel...</entry>
</row>
<row>
        <entry>dgpsAge</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Age of DGPS data. In seconds</entry>
</row>
<row>
        <entry>dgpsSta</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Station of DGPS data.</entry>
</row>
<row>
        <entry>epc</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Estimated climb error in meters per second.
Certainty unknown.</entry>
</row>
<row>
        <entry>epd</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Estimated track (direction) error in degrees.
Certainty unknown.</entry>
</row>
<row>
        <entry>eph</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Estimated horizontal Position (2D) Error in meters.
Also known as Estimated Position Error (epe).  Certainty unknown.</entry>
</row>
<row>
        <entry>eps</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Estimated speed error in meters per second.
Certainty unknown.</entry>
</row>
<row>
        <entry>ept</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Estimated timestamp error in seconds. Certainty unknown.</entry>
</row>
<row>
        <entry>epx</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Longitude error estimate in meters. Certainty unknown.</entry>
</row>
<row>
        <entry>epy</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Latitude error estimate in meters. Certainty unknown.</entry>
</row>
<row>
        <entry>epv</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Estimated vertical error in meters. Certainty unknown.</entry>
</row>
<row>
        <entry>geoidSep</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Geoid separation is the difference between the WGS84
reference ellipsoid and the geoid (Mean Sea Level) in meters.  Almost no
GNSS receiver specifies how they compute their geoid. gpsd interpolates the
geoid from a 5x5 degree table of EGM2008 values when the receiver does
not supply a geoid separation.  The gpsd computed geoidSep is usually
within one meter of the "true" value, but can be off as much as 12 meters.
</entry>
</row>
<row>
        <entry>lat</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Latitude in degrees: +/- signifies North/South.</entry>
</row>
<row>
        <entry>leapseconds</entry>
        <entry>No</entry>
        <entry>integer</entry>
        <entry>Current leap seconds.</entry>
</row>
<row>
        <entry>lon</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Longitude in degrees: +/- signifies East/West.</entry>
</row>
<row>
        <entry>track</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Course over ground, degrees from true north.</entry>
</row>
<row>
        <entry>magtrack</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Course over ground, degrees magnetic.</entry>
</row>
<row>
        <entry>magvar</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Magnetic variation, degrees.  Also known as
the magnetic declination (the direction of the horizontal component of
the magnetic field measured clockwise from north) in degrees,
Positive is West variation.  Negative is East variation.</entry>
</row>
<row>
        <entry>speed</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Speed over ground, meters per second.</entry>
</row>
<row>
        <entry>ecefx</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF X position in meters.</entry>
</row>
<row>
        <entry>ecefy</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF Y position in meters.</entry>
</row>
<row>
        <entry>ecefz</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF Z position in meters.</entry>
</row>
<row>
        <entry>ecefpAcc</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF position error in meters. Certainty unknown.</entry>
</row>
<row>
        <entry>ecefvx</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF X velocity in meters per second.</entry>
</row>
<row>
        <entry>ecefvy</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF Y velocity in meters per second.</entry>
</row>
<row>
        <entry>ecefvz</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF Z velocity in meters per second.</entry>
</row>
<row>
        <entry>ecefvAcc</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>ECEF velocity error in meters per second. Certainty
unknown.</entry>
</row>
<row>
        <entry>sep</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Estimated Spherical (3D) Position Error in meters.
Guessed to be 95% confidence, but many GNSS receivers do not specify, so
certainty unknown.</entry>
</row>
<row>
        <entry>relD</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Down component of relative position vector in meters.</entry>
</row>
<row>
        <entry>relE</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>East component of relative position vector in meters.</entry>
</row>
<row>
        <entry>relN</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>North component of relative position vector in meters.</entry>
</row>
<row>
        <entry>velD</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Down velocity component in meters.</entry>
</row>
<row>
        <entry>velE</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>wEast velocity component in meters.</entry>
</row>
<row>
        <entry>velN</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>North velocity component in meters.</entry>
</row>
<row>
        <entry>wanglem</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Wind angle magnetic in degrees.</entry>
</row>
<row>
        <entry>wangler</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Wind angle relative in degrees.</entry>
</row>
<row>
        <entry>wanglet</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Wind angle true in degrees.</entry>
</row>
<row>
        <entry>wspeedr</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Wind speed relative in meters per second.</entry>
</row>
<row>
        <entry>wspeedt</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Wind speed true in meters per second.</entry>
</row>

</tbody>
</tgroup>
</table>

<para>When the C client library parses a response of this kind, it
will assert validity bits in the top-level set member for each
field received; see gps.h for bitmask names and values.</para>

<para>Invalid or unknown floating-point values will be set to NAN.
Always check floating points with isfinite() before use.
</para>

<para>Here's an example:</para>

<programlisting>
{"class":"TPV","device":"/dev/pts/1",
    "time":"2005-06-08T10:34:48.283Z","ept":0.005,
    "lat":46.498293369,"lon":7.567411672,"alt":1343.127,
    "eph":36.000,"epv":32.321,
    "track":10.3788,"speed":0.091,"climb":-0.085,"mode":3}
</programlisting>
</listitem>
</varlistentry>

<varlistentry>
<term>SKY</term>
<listitem>
<para>A SKY object reports a sky view of the GPS satellite positions.
If there is no GPS device available, or no skyview has been reported
yet, only the "class" field will reliably be present.</para>

<table frame="all" pgwide="0"><title>SKY object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "SKY"</entry>
</row>
<row>
        <entry>device</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Name of originating device</entry>
</row>
<row>
        <entry>time</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Time/date stamp in ISO8601 format, UTC. May have a
fractional part of up to .001sec precision.</entry>
</row>
<row>
        <entry>gdop</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Geometric (hyperspherical) dilution of precision, a
combination of PDOP and TDOP.  A dimensionless factor which
should be multiplied by a base UERE
to get an error estimate.</entry>
</row>
<row>
        <entry>hdop</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Horizontal dilution of precision, a dimensionless
factor which should be multiplied by a base UERE to get a
circular error estimate.</entry>
</row>
<row>
        <entry>pdop</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Position (spherical/3D)  dilution of precision, a dimensionless
factor which should be multiplied by a base UERE to get an
error estimate.</entry>
</row>
<row>
        <entry>tdop</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Time dilution of precision, a dimensionless
factor which should be multiplied by a base UERE to get an
error estimate.</entry>
</row>
<row>
        <entry>vdop</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Vertical (altitude) dilution of precision, a dimensionless
factor which should be multiplied by a base UERE to get an
error estimate.</entry>
</row>
<row>
        <entry>xdop</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Longitudinal dilution of precision, a dimensionless
factor which should be multiplied by a base UERE to get an
error estimate.</entry>
</row>
<row>
        <entry>ydop</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Latitudinal dilution of precision, a dimensionless
factor which should be multiplied by a base UERE to get an
error estimate.</entry>
</row>
<row>
        <entry>nSat</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Number of satellite objects in "satellites" array.</entry>
</row>
<row>
        <entry>uSat</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Number of satellites used in navigation solution.</entry>
</row>
<row>
        <entry>satellites</entry>
        <entry>Yes</entry>
        <entry>list</entry>
        <entry>List of satellite objects in skyview</entry>
</row>

</tbody>
</tgroup>
</table>

<para>Many devices compute dilution of precision factors but do not
include them in their reports.  Many that do report DOPs report only
HDOP, two-dimensional circular error. <application>gpsd</application>
always passes through whatever the device reports, then
attempts to fill in other DOPs by calculating the appropriate
determinants in a covariance matrix based on the satellite view. DOPs
may be missing if some of these determinants are singular. It can even
happen that the device reports an error estimate in meters when the
corresponding DOP is unavailable; some devices use more sophisticated
error modeling than the covariance calculation.</para>

<para>The satellite list objects have the following elements:</para>

<table frame="all" pgwide="0"><title>Satellite object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>PRN</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>PRN ID of the satellite. 1-63 are GNSS satellites,
64-96 are GLONASS satellites, 100-164 are SBAS satellites</entry>
</row>
<row>
        <entry>az</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Azimuth, degrees from true north.</entry>
</row>
<row>
        <entry>el</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Elevation in degrees.</entry>
</row>
<row>
        <entry>ss</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Signal to Noise ratio in dBHz.</entry>
</row>
<row>
        <entry>used</entry>
        <entry>Yes</entry>
        <entry>boolean</entry>
        <entry>Used in current solution? (SBAS/WAAS/EGNOS satellites
may be flagged used if the solution has corrections from them,
but not all drivers make this information available.)</entry>
</row>
<row>
        <entry>gnssid</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>The GNSS ID, as defined by u-blox, not NMEA.  0=GPS,
2=Galileo, 3=Beidou, 5=QZSS, 6-GLONASS.</entry>
</row>
<row>
        <entry>svid</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>The satellite ID within its constellation.  As defined
by u-blox, not NMEA).</entry>
</row>
<row>
        <entry>sigid</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>The signal ID of this signal.  As defined by u-blox, not
NMEA. See u-blox doc for details.</entry>
</row>
<row>
        <entry>freqid</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>For GLONASS satellites only: the frequency ID of the signal.
As defined by u-blox, range 0 to 13.  The freqid is the frequency slot
plus 7.</entry>
</row>
<row>
        <entry>health</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>The health of this satellite.  0 is unknown, 1 is
OK, and 2 is unhealthy.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Note that satellite objects do not have a "class" field, as
they are never shipped outside of a SKY object.</para>

<para>When the C client library parses a SKY response, it
will assert the SATELLITE_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"SKY","device":"/dev/pts/1",
    "time":"2005-07-08T11:28:07.114Z",
    "xdop":1.55,"hdop":1.24,"pdop":1.99,
    "satellites":[
        {"PRN":23,"el":6,"az":84,"ss":0,"used":false},
        {"PRN":28,"el":7,"az":160,"ss":0,"used":false},
        {"PRN":8,"el":66,"az":189,"ss":44,"used":true},
        {"PRN":29,"el":13,"az":273,"ss":0,"used":false},
        {"PRN":10,"el":51,"az":304,"ss":29,"used":true},
        {"PRN":4,"el":15,"az":199,"ss":36,"used":true},
        {"PRN":2,"el":34,"az":241,"ss":43,"used":true},
        {"PRN":27,"el":71,"az":76,"ss":43,"used":true}]}
</programlisting>

</listitem>
</varlistentry>

<varlistentry>
<term>GST</term>
<listitem>
<para>A GST object is a pseudorange noise report.</para>

<table frame="all" pgwide="0"><title>GST object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "GST"</entry>
</row>
<row>
        <entry>device</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Name of originating device</entry>
</row>
<row>
        <entry>time</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Time/date stamp in ISO8601 format, UTC. May have a
fractional part of up to .001sec precision.</entry>
</row>

<row>
        <entry>rms</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Value of the standard deviation of the range inputs to the
navigation process (range inputs include pseudoranges and DGPS
corrections).</entry>
</row>

<row>
        <entry>major</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Standard deviation of semi-major axis of error ellipse,
in meters.</entry>
</row>

<row>
        <entry>minor</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Standard deviation of semi-minor axis of error ellipse,
in meters.</entry>
</row>

<row>
        <entry>orient</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Orientation of semi-major axis of error ellipse, in degrees
from true north.</entry>
</row>

<row>
        <entry>lat</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Standard deviation of latitude error, in meters.</entry>
</row>

<row>
        <entry>lon</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Standard deviation of longitude error, in meters.</entry>
</row>

<row>
        <entry>alt</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Standard deviation of altitude error, in meters.</entry>
</row>

</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"GST","device":"/dev/ttyUSB0",
        "time":"2010-12-07T10:23:07.096Z","rms":2.440,
        "major":1.660,"minor":1.120,"orient":68.989,
        "lat":1.600,"lon":1.200,"alt":2.520}
</programlisting>
</listitem>
</varlistentry>

<varlistentry>
<term>ATT</term>
<listitem>
<para>An ATT object is a vehicle-attitude report. It is returned by
digital-compass and gyroscope sensors; depending on device, it may
include: heading, pitch, roll, yaw, gyroscope, and magnetic-field
readings. Because such sensors are often bundled as part of
marine-navigation systems, the ATT response may also include
water depth.</para>

<para>The "class" and "mode" fields will reliably be present.  Others
may be reported or not depending on the specific device type.</para>

<table frame="all" pgwide="0"><title>ATT object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "ATT"</entry>
</row>
<row>
        <entry>device</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Name of originating device</entry>
</row>
<row>
        <entry>time</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Time/date stamp in ISO8601 format, UTC. May have a
fractional part of up to .001sec precision.</entry>
</row>
<row>
        <entry>heading</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Heading, degrees from true north.</entry>
</row>
<row>
        <entry>mag_st</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Magnetometer status.</entry>
</row>
<row>
        <entry>pitch</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Pitch in degrees.</entry>
</row>
<row>
        <entry>pitch_st</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Pitch sensor status.</entry>
</row>
<row>
        <entry>yaw</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Yaw in degrees</entry>
</row>
<row>
        <entry>yaw_st</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Yaw sensor status.</entry>
</row>
<row>
        <entry>roll</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Roll in degrees.</entry>
</row>
<row>
        <entry>roll_st</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Roll sensor status.</entry>
</row>
<row>
        <entry>dip</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Local magnetic inclination, degrees, positive when the magnetic
field points downward (into the Earth).</entry>
</row>
<row>
        <entry>mag_len</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Scalar magnetic field strength.</entry>
</row>
<row>
        <entry>mag_x</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>X component of magnetic field strength.</entry>
</row>
<row>
        <entry>mag_y</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Y component of magnetic field strength.</entry>
</row>
<row>
        <entry>mag_z</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Z component of magnetic field strength.</entry>
</row>
<row>
        <entry>acc_len</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Scalar acceleration.</entry>
</row>
<row>
        <entry>acc_x</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>X component of acceleration.</entry>
</row>
<row>
        <entry>acc_y</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Y component of acceleration.</entry>
</row>
<row>
        <entry>acc_z</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Z component of acceleration.</entry>
</row>
<row>
        <entry>gyro_x</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>X component of acceleration.</entry>
</row>
<row>
        <entry>gyro_y</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Y component of acceleration.</entry>
</row>
<row>
        <entry>depth</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Water depth in meters.</entry>
</row>
<row>
        <entry>temp</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Temperature at the sensor, degrees centigrade.</entry>
</row>


</tbody>
</tgroup>
</table>

<para>The heading, pitch, and roll status codes (if present) vary by device.
For the TNT Revolution digital compasses, they are coded as follows: </para>

<table frame="all" pgwide="0"><title>Device flags</title>
<tgroup cols="2" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Code</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>C</entry>
        <entry>magnetometer calibration alarm</entry>
</row>
<row>
        <entry>L</entry>
        <entry>low alarm</entry>
</row>
<row>
        <entry>M</entry>
        <entry>low warning</entry>
</row>
<row>
        <entry>N</entry>
        <entry>normal</entry>
</row>
<row>
        <entry>O</entry>
        <entry>high warning</entry>
</row>
<row>
        <entry>P</entry>
        <entry>high alarm</entry>
</row>
<row>
        <entry>V</entry>
        <entry>magnetometer voltage level alarm</entry>
</row>
</tbody>
</tgroup>
</table>


<para>When the C client library parses a response of this kind, it
will assert ATT_IS.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"ATT","time":1270938096.843,
    "heading":14223.00,"mag_st":"N",
    "pitch":169.00,"pitch_st":"N", "roll":-43.00,"roll_st":"N",
    "dip":13641.000,"mag_x":2454.000}
</programlisting>
</listitem>
</varlistentry>

</variablelist>

<para>And here are the commands:</para>

<variablelist>

<varlistentry>
<term>?VERSION;</term>
<listitem><para>Returns an object with the following attributes:</para>

<table frame="all" pgwide="0"><title>VERSION object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "VERSION"</entry>
</row>
<row>
        <entry>release</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Public release level</entry>
</row>
<row>
        <entry>rev</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Internal revision-control level.</entry>
</row>
<row>
        <entry>proto_major</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>API major revision level.</entry>
</row>
<row>
        <entry>proto_minor</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>API minor revision level.</entry>
</row>
<row>
        <entry>remote</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>URL of the remote daemon reporting this version. If
empty, this is the version of the local daemon.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>The daemon ships a VERSION response to each client when the
client first connects to it.</para>

<para>When the C client library parses a response of this kind, it
will assert the VERSION_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"VERSION","version":"2.40dev",
    "rev":"06f62e14eae9886cde907dae61c124c53eb1101f",
    "proto_major":3,"proto_minor":1
}
</programlisting>


</listitem>
</varlistentry>

<varlistentry>
<term>?DEVICES;</term>
<listitem><para>Returns a device list object with the
following elements:</para>

<table frame="all" pgwide="0"><title>DEVICES object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "DEVICES"</entry>
</row>
<row>
        <entry>devices</entry>
        <entry>Yes</entry>
        <entry>list</entry>
        <entry>List of device descriptions</entry>
</row>
<row>
        <entry>remote</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>URL of the remote daemon reporting the device set. If
empty, this is a DEVICES response from the local daemon.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>When the C client library parses a response of this kind, it
will assert the DEVICELIST_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class"="DEVICES","devices":[
    {"class":"DEVICE","path":"/dev/pts/1","flags":1,"driver":"SiRF binary"},
    {"class":"DEVICE","path":"/dev/pts/3","flags":4,"driver":"AIVDM"}]}
</programlisting>

<para>The daemon occasionally ships a bare DEVICE object to the client
(that is, one not inside a DEVICES wrapper). The data content of these
objects will be described later as a response to the ?DEVICE command.</para>

</listitem>
</varlistentry>

<varlistentry>
<term>?WATCH;</term>
<listitem>

<para>This command sets watcher mode. It also sets or elicits a report
of per-subscriber policy and the raw bit.  An argument WATCH object
changes the subscriber's policy. The response describes the
subscriber's policy. The response will also include a DEVICES
object.</para>

<para>A WATCH object has the following elements:</para>

<table frame="all" pgwide="0"><title>WATCH object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "WATCH"</entry>
</row>
<row>
        <entry>enable</entry>
        <entry>No</entry>
        <entry>boolean</entry>
        <entry>Enable (true) or disable (false) watcher mode. Default
is true.</entry>
</row>
<row>
        <entry>json</entry>
        <entry>No</entry>
        <entry>boolean</entry>
        <entry>Enable (true) or disable (false) dumping of JSON reports.
Default is false.</entry>
</row>
<row>
        <entry>nmea</entry>
        <entry>No</entry>
        <entry>boolean</entry>
        <entry>Enable (true) or disable (false) dumping of binary
packets as pseudo-NMEA. Default
is false.</entry>
</row>
<row>
        <entry>raw</entry>
        <entry>No</entry>
        <entry>integer</entry>

        <entry>Controls 'raw' mode. When this attribute is set to 1
for a channel, <application>gpsd</application> reports the
unprocessed NMEA or AIVDM data stream from whatever device is attached.
Binary GPS packets are hex-dumped.  RTCM2 and RTCM3
packets are not dumped in raw mode. When this attribute is set to
2 for a channel that processes binary data,
<application>gpsd</application> reports the received data verbatim
without hex-dumping.</entry>
</row>
<row>
        <entry>scaled</entry>
        <entry>No</entry>
        <entry>boolean</entry>
        <entry>If true, apply scaling divisors to output before
dumping; default is false.</entry>
</row>
<row>
        <entry>split24</entry>
        <entry>No</entry>
        <entry>boolean</entry>
        <entry>If true, aggregate AIS type24 sentence parts.  If false,
report each part as a separate JSON object, leaving the
client to match MMSIs and aggregate.  Default is
false. Applies only to AIS reports.</entry>
</row>
<row>
        <entry>pps</entry>
        <entry>No</entry>
        <entry>boolean</entry>
        <entry>If true, emit the TOFF JSON message on each cycle and a
PPS JSON message when the device issues 1PPS. Default is false.</entry>
</row>
<row>
        <entry>device</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>If present, enable watching only of the specified device
rather than all devices.  Useful with raw and NMEA modes
in which device responses aren't tagged. Has no effect when
used with enable:false.</entry>
</row>
<row>
        <entry>remote</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>URL of the remote daemon reporting the watch set. If
empty, this is a WATCH response from the local daemon.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>There is an additional boolean "timing" attribute which is
undocumented because that portion of the interface is considered
unstable and for developer use only.</para>

<para>In watcher mode, GPS reports are dumped as TPV and SKY
responses. AIS, Subframe and RTCM reporting is described in the next
section.</para>

<para>When the C client library parses a response of this kind, it
will assert the POLICY_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"WATCH", "raw":1,"scaled":true}
</programlisting>

</listitem>
</varlistentry>

<varlistentry>
<term>?POLL;</term>
<listitem>

<para>The POLL command requests data from the last-seen fixes on all
active GPS devices.  Devices must previously have been activated by
?WATCH to be pollable.</para>

<para>Polling can lead to possibly surprising results when it is used
on a device such as an NMEA GPS for which a complete fix has to be
accumulated from several sentences. If you poll while those sentences
are being emitted, the response will contain the last complete fix
data and may be as much as one cycle time (typically 1 second)
stale.</para>

<para>The POLL response will contain a timestamped list of TPV objects
describing cached data, and a timestamped list of SKY objects
describing satellite configuration. If a device has not seen fixes, it
will be reported with a mode field of zero.</para>

<table frame="all" pgwide="0"><title>POLL object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "POLL"</entry>
</row>
<row>
        <entry>time</entry>
        <entry>Yes</entry>
        <entry>Numeric</entry>
        <entry>Timestamp in ISO 8601 format. May have a
fractional part of up to .001sec precision.</entry>
</row>
<row>
        <entry>active</entry>
        <entry>Yes</entry>
        <entry>Numeric</entry>
        <entry>Count of active devices.</entry>
</row>
<row>
        <entry>tpv</entry>
        <entry>Yes</entry>
        <entry>JSON array</entry>
        <entry>Comma-separated list of TPV objects.</entry>
</row>
<row>
        <entry>sky</entry>
        <entry>Yes</entry>
        <entry>JSON array</entry>
        <entry>Comma-separated list of SKY objects.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example of a POLL response:</para>

<programlisting>
{"class":"POLL","time":"2010-06-04T10:31:00.289Z","active":1,
    "tpv":[{"class":"TPV","device":"/dev/ttyUSB0",
            "time":"2010-09-08T13:33:06.095Z",
            "ept":0.005,"lat":40.035093060,
            "lon":-75.519748733,"track":99.4319,"speed":0.123,"mode":2}],
    "sky":[{"class":"SKY","device":"/dev/ttyUSB0",
            "time":1270517264.240,"hdop":9.20,
            "satellites":[{"PRN":16,"el":55,"az":42,"ss":36,"used":true},
                          {"PRN":19,"el":25,"az":177,"ss":0,"used":false},
                          {"PRN":7,"el":13,"az":295,"ss":0,"used":false},
                          {"PRN":6,"el":56,"az":135,"ss":32,"used":true},
                          {"PRN":13,"el":47,"az":304,"ss":0,"used":false},
                          {"PRN":23,"el":66,"az":259,"ss":0,"used":false},
                          {"PRN":20,"el":7,"az":226,"ss":0,"used":false},
                          {"PRN":3,"el":52,"az":163,"ss":32,"used":true},
                          {"PRN":31,"el":16,"az":102,"ss":0,"used":false}
]}]}
</programlisting>

<note>
<para>Client software should not assume the field inventory of the
POLL response is fixed for all time.  As
<application>gpsd</application> collects and caches more data from
more sensor types, those data are likely to find their way
into this response.</para>
</note>

</listitem>
</varlistentry>

<varlistentry>
<term>TOFF</term>
<listitem>

<para>This message is emitted on each cycle and reports the offset
between the host's clock time and the GPS time at top of the second
(actually, when the first data for the reporting cycle is received).</para>

<para>This message exactly mirrors the PPS message except for two
details.</para>

<para>TOFF emits no NTP precision, this is assumed to be -2.  See
the NTP documentation for their definition of precision.</para>

<para>  The TOFF message reports the GPS time as derived from the GPS
serial data stream.  The PPS message reports the GPS time as derived
from the GPS PPS pulse.</para>

<para>A TOFF object has the following elements:</para>

<table frame="all" pgwide="0"><title>TOFF object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "TOFF"</entry>
</row>
<row>
        <entry>device</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Name of the originating device</entry>
</row>
<row>
        <entry>real_sec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>seconds from the GPS clock</entry>
</row>
<row>
        <entry>real_nsec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>nanoseconds from the GPS clock</entry>
</row>
<row>
        <entry>clock_sec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>seconds from the system clock</entry>
</row>
<row>
        <entry>clock_nsec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>nanoseconds from the system clock</entry>
</row>
</tbody>
</tgroup>
</table>

<para>This message is emitted once per second to watchers of a device
and is intended to report the timestamps of the in-band report of the
GPS and seconds as reported by the system clock (which may be
NTP-corrected) when the first valid timestamp of the reporting cycle
was seen.</para>

<para>The message contains two second/nanosecond pairs: real_sec and
real_nsec contain the time the GPS thinks it was at the start of the
current cycle; clock_sec and clock_nsec contain the time the system
clock thinks it was on receipt of the first timing message of the cycle.
real_nsec is always to nanosecond precision. clock_nsec is nanosecond
precision on most systems.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"TOFF","device":"/dev/ttyUSB0",
     "real_sec":1330212592, "real_nsec":343182,
     "clock_sec":1330212592,"clock_nsec":343184,
     "precision":-2}
</programlisting>

</listitem>
</varlistentry>

<varlistentry>
<term>PPS</term>
<listitem>

<para>This message is emitted each time the daemon sees a valid PPS (Pulse
Per Second) strobe from a device.</para>

<para>This message exactly mirrors the TOFF message except for two
details.</para>

<para>PPS emits the NTP precision.  See the NTP documentation for their
definition of precision.</para>

<para>The TOFF message reports the GPS time as derived from the GPS
serial data stream.  The PPS message reports the GPS time as derived
from the GPS PPS pulse.</para>

<para>There are various sources of error in the reported clock times.
The speed of the serial connection between the GPS and the system adds
a delay to the start of cycle detection.  An even bigger error is added
by the variable computation time inside the GPS.  Taken together the
time derived from the start of the GPS cycle can have offsets of
10 milliseconds to 700 milliseconds and combined jitter and wander of
100 to 300 milliseconds.</para>

<para>A PPS object has the following elements:</para>

<table frame="all" pgwide="0"><title>PPS object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "PPS"</entry>
</row>
<row>
        <entry>device</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Name of the originating device</entry>
</row>
<row>
        <entry>real_sec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>seconds from the PPS source</entry>
</row>
<row>
        <entry>real_nsec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>nanoseconds from the PPS source</entry>
</row>
<row>
        <entry>clock_sec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>seconds from the system clock</entry>
</row>
<row>
        <entry>clock_nsec</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>nanoseconds from the system clock</entry>
</row>
<row>
        <entry>precision</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>NTP style estimate of PPS precision</entry>
</row>
<row>
        <entry>qErr</entry>
        <entry>No</entry>
        <entry>numeric</entry>
        <entry>Quantization error of the PPS, in picoseconds.  Sometimes
called the "sawtooth" error.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>This message is emitted once per second to watchers of a device
emitting PPS, and reports the time of the start of the GPS second (when
the 1PPS arrives) and seconds as reported by the system clock (which
may be NTP-corrected) at that moment.</para>

<para>The message contains two second/nanosecond pairs: real_sec and
real_nsec contain the time the GPS thinks it was at the PPS edge;
clock_sec and clock_nsec contain the time the system clock thinks it was
at the PPS edge. real_nsec is always to nanosecond precision. clock_nsec
is nanosecond precision on most systems.</para>

<para>There are various sources of error in the reported clock times.
For PPS delivered via a real serial-line strobe, serial-interrupt
latency plus processing time to the timer call should be bounded above
by about 10 microseconds; that can be reduced to less than 1 microsecond if
your kernel supports RFC 2783.   USB1.1-to-serial control-line emulation is
limited to about 1 millisecond. seconds.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"PPS","device":"/dev/ttyUSB0",
     "real_sec":1330212592, "real_nsec":343182,
     "clock_sec":1330212592,"clock_nsec":343184,
     "precision":-3}
</programlisting>

</listitem>
</varlistentry>

<varlistentry>
<term>OSC</term>
<listitem>

<para>This message reports the status of a GPS-disciplined oscillator
(GPSDO).  The GPS PPS output (which has excellent long-term stability)
is typically used to discipline a local oscillator with much better
short-term stability (such as a rubidium atomic clock).</para>

<para>An OSC object has the following elements:</para>

<table frame="all" pgwide="0"><title>OSC object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "OSC"</entry>
</row>
<row>
        <entry>device</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Name of the originating device.</entry>
</row>
<row>
        <entry>running</entry>
        <entry>Yes</entry>
        <entry>boolean</entry>
        <entry>If true, the oscillator is currently running.  Oscillators may
require warm-up time at the start of the day.</entry>
</row>
<row>
        <entry>reference</entry>
        <entry>Yes</entry>
        <entry>boolean</entry>
        <entry>If true, the oscillator is receiving a GPS PPS signal.</entry>
</row>
<row>
        <entry>disciplined</entry>
        <entry>Yes</entry>
        <entry>boolean</entry>
        <entry>If true, the GPS PPS signal is sufficiently stable and is being
used to discipline the local oscillator.</entry>
</row>
<row>
        <entry>delta</entry>
        <entry>Yes</entry>
        <entry>numeric</entry>
        <entry>The time difference (in nanoseconds) between the GPS-disciplined
oscillator PPS output pulse and the most recent GPS PPS input
pulse.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"OSC","running":true,"device":"/dev/ttyUSB0",
    "reference":true,"disciplined":true,"delta":67}
</programlisting>
</listitem>
</varlistentry>

<varlistentry>
<term>?DEVICE</term>
<listitem>

<para>This command reports (when followed by ';') the state of a
device, or sets (when followed by '=' and a DEVICE object)
device-specific control bits, notably the device's speed and serial
mode and the native-mode bit.  The parameter-setting form will be rejected if
more than one client is attached to the channel.</para>

<para>Pay attention to the response, because it is
possible for this command to fail if the GPS does not support a
speed-switching command or only supports some combinations of
serial modes.  In case of failure, the daemon and GPS will
continue to communicate at the old speed.</para>

<para>Use the parameter-setting form with caution.  On USB and
Bluetooth GPSes it is also possible for serial mode setting to fail
either because the serial adaptor chip does not support non-8N1 modes
or because the device firmware does not properly synchronize the
serial adaptor chip with the UART on the GPS chipset when the speed
changes. These failures can hang your device, possibly requiring a GPS
power cycle or (in extreme cases) physically disconnecting the NVRAM
backup battery.</para>

<para>A DEVICE object has the following elements:</para>

<table frame="all" pgwide="0"><title>DEVICE object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "DEVICE"</entry>
</row>
<row>
        <entry>path</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Name the device for which the control bits are
being reported, or for which they are to be applied. This
attribute may be omitted only when there is exactly one
subscribed channel.</entry>
</row>
<row>
        <entry>activated</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Time the device was activated as an ISO8601
timestamp. If the device is inactive this attribute is
absent.</entry>
</row>
<row>
        <entry>flags</entry>
        <entry>No</entry>
        <entry>integer</entry>
        <entry>Bit vector of property flags.  Currently defined flags are:
describe packet types seen so far (GPS, RTCM2, RTCM3,
AIS). Won't be reported if empty, e.g. before
<application>gpsd</application> has seen identifiable packets
from the device.</entry>
</row>
<row>
        <entry>driver</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>GPSD's name for the device driver type. Won't be reported before
        <application>gpsd</application> has seen identifiable packets
from the device.</entry>
</row>
<row>
        <entry>subtype</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>Whatever version information the device driver returned.</entry>
</row>
<row>
        <entry>subtype1</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>More version information the device driver returned.</entry>
</row>
<row>
        <entry>bps</entry>
        <entry>No</entry>
        <entry>integer</entry>
        <entry>Device speed in bits per second.</entry>
</row>
<row>
        <entry>parity</entry>
        <entry>No</entry>
        <entry>string</entry>
        <entry>N, O or E for no parity, odd, or even.</entry>
</row>
<row>
        <entry>stopbits</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Stop bits (1 or 2).</entry>
</row>
<row>
        <entry>native</entry>
        <entry>No</entry>
        <entry>integer</entry>
        <entry>0 means NMEA mode and 1 means
alternate mode (binary if it has one, for SiRF and Evermore chipsets
in particular). Attempting to set this mode on a non-GPS
device will yield an error.</entry>
</row>
<row>
        <entry>cycle</entry>
        <entry>No</entry>
        <entry>real</entry>
        <entry>Device cycle time in seconds.</entry>
</row>
<row>
        <entry>mincycle</entry>
        <entry>No</entry>
        <entry>real</entry>
        <entry>Device minimum cycle time in seconds. Reported from
?DEVICE when (and only when) the rate is switchable. It is
read-only and not settable.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>The serial parameters will (bps, parity, stopbits) be omitted in
a response describing a TCP/IP source such as an Ntrip, DGPSIP, or AIS
feed; on a serial device they will always be present.</para>

<para>The contents of the flags field should be interpreted as follows:</para>

<table frame="all" pgwide="0"><title>Device flags</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>C #define</entry>
        <entry>Value</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>SEEN_GPS</entry>
        <entry>0x01</entry>
        <entry>GPS data has been seen on this device</entry>
</row>
<row>
        <entry>SEEN_RTCM2</entry>
        <entry>0x02</entry>
        <entry>RTCM2 data has been seen on this device</entry>
</row>
<row>
        <entry>SEEN_RTCM3</entry>
        <entry>0x04</entry>
        <entry>RTCM3 data has been seen on this device</entry>
</row>
<row>
        <entry>SEEN_AIS</entry>
        <entry>0x08</entry>
        <entry>AIS data has been seen on this device</entry>
</row>
</tbody>
</tgroup>
</table>

<!--
<para>The mincycle member may be 0, indicating no hard lower limit on the
cycle time. On an NMEA device of this kind it is possible to try to
push more characters through per cycle than the time to transmit will
allow. You must set the time high enough to let all sentences come
through.  Here are the maxima to use for computation:</para>

<table frame='all'>
<tgroup cols='2'>
<tbody>
<row><entry>ZDA       </entry><entry>36</entry></row>
<row><entry>GLL       </entry><entry>47</entry></row>
<row><entry>GGA       </entry><entry>82</entry></row>
<row><entry>VTG       </entry><entry>46</entry></row>
<row><entry>RMC       </entry><entry>77</entry></row>
<row><entry>GSA       </entry><entry>67</entry></row>
<row><entry>GSV       </entry><entry>60 (per line, thus 180 for a set
of 3)</entry> </row>
</tbody>
</tgroup>
</table>

<para>The transmit time for a cycle (which must be less than 1 second)
is the total character count multiplied by 10 and divided by the baud
rate. A typical budget is GGA, RMC, GSA, 3*GSV = 82+75+67+(3*60) =
404.</para>
-->

<para>When the C client library parses a response of this kind, it
will assert the DEVICE_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"DEVICE","bps":4800,"parity":"N","stopbits":1,"native":0}
</programlisting>

</listitem>
</varlistentry>

</variablelist>

<para>When a client is in watcher mode, the daemon will ship it DEVICE
notifications when a device is added to the pool or
deactivated.</para>

<para>When the C client library parses a response of this kind, it
will assert the DEVICE_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"DEVICE","path":"/dev/pts1","activated":0}
</programlisting>

<para>The daemon may ship an error object in response to a
syntactically invalid command line or unknown command. It has
the following elements:</para>

<table frame="all" pgwide="0"><title>ERROR notification object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Always?</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Fixed: "ERROR"</entry>
</row>
<row>
        <entry>message</entry>
        <entry>Yes</entry>
        <entry>string</entry>
        <entry>Textual error message</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"ERROR","message":"Unrecognized request '?FOO'"}
</programlisting>

<para>When the C client library parses a response of this kind, it
will assert the ERR_SET bit in the top-level set member.</para>

</refsect1>

<refsect1 id='rtcm2'><title>RTCM2</title>

<para>RTCM-104 is a family of serial protocols used for broadcasting
pseudorange corrections from differential-GPS reference stations. Many
GPS receivers can accept these corrections to improve their reporting
accuracy.</para>

<para>RTCM-104 comes in two major and incompatible flavors, 2.x and
3.x.  Each major flavor has minor (compatible) revisions.</para>

<para>The applicable standard for RTCM Version 2.x is <citetitle>RTCM
Recommended Standards for Differential NAVSTAR GPS Service</citetitle>
RTCM Paper 194-93/SC 104-STD. For RTCM 3.1 it is <citetitle>RTCM Paper
177-2006-SC104-STD</citetitle>.  Ordering instructions for both
standards are accessible from the website of the <ulink
url='http://www.rtcm.org/'>Radio Technical Commission for Maritime
Services</ulink> under "Publications".</para>

<refsect2 id='wire-format'><title>RTCM WIRE TRANSMISSIONS</title>

<para>Differential-GPS correction stations consist of a GPS reference
receiver coupled to a low frequency (LF) transmitter.  The GPS
reference receiver is a survey-grade GPS that does GPS carrier
tracking and can work out its position to a few millimeters.  It
generates range and range-rate corrections and encodes them into
RTCM104. It ships the RTCM104 to the LF transmitter over serial rs-232
signal at 100 baud or 200 baud depending on the requirements of the
transmitter.</para>

<para>The LF transmitter broadcasts the approximately 300khz radio
signal that differential-GPS radio receivers pick up.  Transmitters
that are meant to have a higher range will need to transmit at a
slower rate.  The higher the data rate the harder it will be for the
remote radio receiver to receive with a good signal-to-noise ration.
(Higher data rate signals can't be averaged over as long a time frame,
hence they appear noisier.)</para>

</refsect2>
<refsect2 id='rtcm-wire-format'><title>RTCM WIRE FORMATS</title>

<para>An RTCM 2.x message consists of a sequence of up to 33 30-bit
words. The 24 most significant bits of each word are data and the six
least significant bits are parity. The parity algorithm used is the
same ISGPS-2000 as that used on GPS satellite downlinks.  Each RTCM
2.x message consists of two header words followed by zero or more data
words, depending upon the message type.</para>

<para>An RTCM 3.x message begins with a fixed leader byte 0xD3.  That
is followed by six bits of version information and 10 bits of payload
length information.  Following that is the payload; following the
payload is a 3-byte checksum of the payload using the Qualcomm CRC-24Q
algorithm.</para>

</refsect2>
<refsect2 id='rtcm2-dump-format2'><title>RTCM2 JSON FORMAT</title>

<para>Each RTCM2 message is dumped as a single JSON object per
message, with the message fields as attributes of that object.  Arrays
of satellite, station, and constellation statistics become arrays of
JSON sub-objects. Each sentence will normally also have a "device"
field containing the pathname of the originating device.</para>

<para>All attributes other than the device field are mandatory. Header
attributes are emitted before others.</para>

<refsect3><title>Header portion</title>

<table frame="all" pgwide="0"><title>SKY object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>class</entry>
        <entry>string</entry>
        <entry>Fixed: "RTCM2".</entry>
</row>
<row>
        <entry>type</entry>
        <entry>integer</entry>
        <entry>Message type (1-9).</entry>
</row>
<row>
        <entry>station_id</entry>
        <entry>integer</entry>
        <entry>The id of the GPS reference receiver. The
LF transmitters also have (different) id numbers.</entry>
</row>
<row>
        <entry>zcount</entry>
        <entry>real</entry>
        <entry>The reference time of the
corrections in the message in seconds within the current hour. Note
that it is in GPS time, which is some seconds ahead of UTC (see the
U.S. Naval Observatory's <ulink
url="ftp://maia.usno.navy.mil/ser7/tai-utc.dat">table of leap second
corrections</ulink>).</entry>
</row>
<row>
        <entry>seqnum</entry>
        <entry>integer</entry>
        <entry>Sequence number. Only 3 bits wide, wraps after 7.</entry>
</row>
<row>
        <entry>length</entry>
        <entry>integer</entry>
        <entry>The number of words after the header that comprise the
message.</entry>
</row>
<row>
        <entry>station_health</entry>
        <entry>integer</entry>
        <entry>Station transmission status. Indicates the health of
the beacon as a reference source.  Any nonzero value means the
satellite is probably transmitting bad data and should not be
used in a fix. 6 means the transmission is unmonitored. 7
means the station is not working properly. Other values are
defined by the beacon operator.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>&lt;message type&gt; is one of</para>

<variablelist>
<varlistentry>
<term>1</term>
<listitem><para>full corrections -- one message containing corrections for
all GPS satellites in view. This is not common.</para></listitem>
</varlistentry>

<varlistentry>
<term>3</term>
<listitem><para>reference station parameters -- the position of the
reference station GPS antenna.</para></listitem>
</varlistentry>

<varlistentry>
<term>4</term>
<listitem><para>datum &mdash; the datum to which the DGPS data is
referred.</para></listitem>
</varlistentry>

<varlistentry>
<term>5</term>
<listitem><para>constellation health &mdash; information about the
satellites the beacon can see.</para></listitem>
</varlistentry>

<varlistentry>
<term>6</term>
<listitem><para>null message &mdash; just a filler.</para></listitem>
</varlistentry>

<varlistentry>
<term>7</term>
<listitem><para>radio beacon almanac &mdash; information about this or other
beacons.</para></listitem>
</varlistentry>

<varlistentry>
<term>9</term>
<listitem><para>subset corrections &mdash; a message containing corrections
for only a subset of the GPS satellites in view.</para></listitem>
</varlistentry>

<varlistentry>
<term>16</term>
<listitem><para>special message &mdash; a text message from the beacon
operator.</para></listitem>
</varlistentry>

<varlistentry>
<term>31</term>
<listitem><para>GLONASS subset corrections &mdash; a message
containing corrections for a set of the GLONASS satellites in
view.</para></listitem>
</varlistentry>


</variablelist>

</refsect3>
<refsect3><title>Type 1 and 9: Correction data</title>

<para>One or more satellite objects follow the header for type 1 or type 9
messages. Here is the format:</para>

<table frame="all" pgwide="0"><title>Satellite object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>ident</entry>
        <entry>integer</entry>
        <entry>The PRN number of the satellite for which this is
correction data.</entry>
</row>
<row>
        <entry>udre</entry>
        <entry>integer</entry>
        <entry>User Differential Range Error (0-3). See the
table following for values.</entry>
</row>
<row>
        <entry>iod</entry>
        <entry>integer</entry>
        <entry>Issue Of Data, matching the IOD for the current
ephemeris of this satellite, as transmitted by the satellite.
The IOD is a unique tag that identifies the ephemeris; the GPS
using the DGPS correction and the DGPS generating the data
must use the same orbital positions for the
satellite.</entry>
</row>
<row>
        <entry>prc</entry>
        <entry>real</entry>
        <entry>The pseudorange error in meters for this
satellite as measured by the beacon reference receiver at the
epoch indicated by the z_count in the parent
record.</entry>
</row>
<row>
        <entry>rrc</entry>
        <entry>real</entry>
        <entry>The rate of change of pseudorange error in
meters/sec for this satellite as measured by the beacon
reference receiver at the epoch indicated by the z_count field
in the parent record. This is used to calculate pseudorange
errors at other epochs, if required by the GPS
receiver.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>User Differential Range Error values are as follows:</para>

<table frame="all" pgwide="0"><title>UDRE values</title>
<tgroup cols="2" align="left" colsep="1" rowsep="1">
<tbody>
<row><entry>0</entry><entry>1-sigma error       &lt;= 1 m</entry></row>
<row><entry>1</entry><entry>1-sigma error       &lt;= 4 m</entry></row>
<row><entry>2</entry><entry>1-sigma error       &lt;= 8 m</entry></row>
<row><entry>3</entry><entry>1-sigma error       &gt;  8 m</entry></row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":1,
    "station_id":688,"zcount":843.0,"seqnum":5,"length":19,"station_health":6,
    "satellites":[
        {"ident":10,"udre":0,"iod":46,"prc":-2.400,"rrc":0.000},
        {"ident":13,"udre":0,"iod":94,"prc":-4.420,"rrc":0.000},
        {"ident":7,"udre":0,"iod":22,"prc":-5.160,"rrc":0.002},
        {"ident":2,"udre":0,"iod":34,"prc":-6.480,"rrc":0.000},
        {"ident":4,"udre":0,"iod":47,"prc":-8.860,"rrc":0.000},
        {"ident":8,"udre":0,"iod":76,"prc":-7.980,"rrc":0.002},
        {"ident":5,"udre":0,"iod":99,"prc":-8.260,"rrc":0.002},
        {"ident":23,"udre":0,"iod":81,"prc":-8.060,"rrc":0.000},
        {"ident":16,"udre":0,"iod":70,"prc":-11.740,"rrc":0.000},
        {"ident":30,"udre":0,"iod":4,"prc":-18.960,"rrc":-0.006},
        {"ident":29,"udre":0,"iod":101,"prc":-24.960,"rrc":-0.002}
]}
</programlisting>

</refsect3>
<refsect3><title>Type 3: Reference Station Parameters</title>

<para>Here are the payload members of a type 3 (Reference Station
Parameters) message:</para>

<table frame="all" pgwide="0"><title>Reference Station Parameters</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>x</entry>
        <entry>real</entry>
        <entry>ECEF X coordinate.</entry>
</row>
<row>
        <entry>y</entry>
        <entry>real</entry>
        <entry>ECEF Y coordinate.</entry>
</row>
<row>
        <entry>z</entry>
        <entry>real</entry>
        <entry>ECEF Z coordinate.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>The coordinates are the position of the station, in meters to two
decimal places, in Earth Centred Earth Fixed coordinates.
These are usually referred to the WGS84 reference frame, but may
be referred to NAD83 in the US (essentially identical to WGS84 for
all except geodesists), or some other reference frame in other
parts of the world.</para>

<para>An invalid reference message is represented by a type 3 header
without payload fields.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":3,
    "station_id":652,"zcount":1657.2,"seqnum":2,"length":4,"station_health":6,
    "x":3878620.92,"y":670281.40,"z":5002093.59
}
</programlisting>

</refsect3>
<refsect3><title>Type 4: Datum</title>

<para>Here are the payload members of a type 4 (Datum) message:</para>

<table frame="all" pgwide="0"><title>Datum</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>dgnss_type</entry>
        <entry>string</entry>
        <entry>Either "GPS", "GLONASS", "GALILEO", or
"UNKNOWN".</entry>
</row>
<row>
        <entry>dat</entry>
        <entry>integer</entry>
        <entry>0 or 1 and indicates the sense of the offset
shift given by dx, dy, dz. dat = 0 means that the station
coordinates (in the reference message) are referred to a local
datum and that adding dx, dy, dz to that position will render
it in GNSS coordinates (WGS84 for GPS). If dat = 1 then the
ref station position is in GNSS coordinates and adding dx, dy,
dz will give it referred to the local datum.</entry>
</row>
<row>
        <entry>datum_name</entry>
        <entry>string</entry>
        <entry>A standard name for the datum.</entry>
</row>

<row>
        <entry>dx</entry>
        <entry>real</entry>
        <entry>X offset.</entry>
</row>
<row>
        <entry>dy</entry>
        <entry>real</entry>
        <entry>Y offset.</entry>
</row>
<row>
        <entry>dz</entry>
        <entry>real</entry>
        <entry>Z offset.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>&lt;dx&gt; &lt;dy&gt; &lt;dz&gt; are offsets to convert from
local datum to GNSS datum or vice versa. These fields are
optional.</para>

<para>An invalid datum message is represented by a type 4 header
without payload fields.</para>

</refsect3>
<refsect3><title>Type 5: Constellation Health</title>

<para>One or more of these follow the header for type 5 messages &mdash; one
for each satellite.</para>

<para>Here is the format:</para>

<table frame="all" pgwide="0"><title>Constellation health</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>ident</entry>
        <entry>integer</entry>
        <entry>The PRN number of the satellite.</entry>
</row>
<row>
        <entry>iodl</entry>
        <entry>bool</entry>
        <entry>True indicates that this information relates to
the satellite information in an accompanying type 1 or type 9
message.</entry>
</row>
<row>
        <entry>health</entry>
        <entry>integer</entry>
        <entry>0 indicates that the satellite is healthy. Any other value
indicates a problem (coding is not known).</entry>
</row>
<row>
        <entry>snr</entry>
        <entry>integer</entry>
        <entry>The carrier/noise ratio of the received signal in
the range 25 to 55 dB(Hz).</entry>
</row>
<row>
        <entry>health_en</entry>
        <entry>bool</entry>
        <entry>If set to True it indicates that the satellite is
healthy even if the satellite navigation data says it is
unhealthy.</entry>
</row>
<row>
        <entry>new_data</entry>
        <entry>bool</entry>
        <entry>True indicates that the IOD for this satellite will
soon be updated in type 1 or 9 messages.</entry>
</row>
<row>
        <entry>los_warning</entry>
        <entry>bool</entry>
        <entry>Line-of-sight warning. True indicates that the
satellite will shortly go unhealthy.</entry>
</row>
<row>
        <entry>tou</entry>
        <entry>integer</entry>
        <entry>Healthy time remaining in seconds.</entry>
</row>
</tbody>
</tgroup>
</table>

</refsect3>
<refsect3><title>Type 6: Null</title>

<para>This just indicates a null message. There are no payload fields.</para>
</refsect3>

<refsect3><title>Unknown message</title>

<para>This format is used to dump message words in hexadecimal when the
message type field doesn't match any of the known ones.</para>

<para>Here is the format:</para>

<table frame="all" pgwide="0"><title>Unknown Message</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>data</entry>
        <entry>list</entry>
        <entry>A list of strings.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Each string in the array is a hex literal representing 30 bits
of information, after parity checks and inversion.  The high two bits
should be ignored.</para>

</refsect3>
<refsect3><title>Type 7: Radio Beacon Almanac</title>

<para>Here is the format:</para>

<table frame="all" pgwide="0"><title>Constellation health</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>lat</entry>
        <entry>real</entry>
        <entry>Latitude in degrees, of the LF transmitter
antenna for the station for which this is an almanac.  North
is positive.</entry>
</row>
<row>
        <entry>lon</entry>
        <entry>real</entry>
        <entry>Longitude in degrees, of the LF transmitter
antenna for the station for which this is an almanac.
East is positive.</entry>
</row>
<row>
        <entry>range</entry>
        <entry>integer</entry>
        <entry>Published range of the station in km.</entry>
</row>
<row>
        <entry>frequency</entry>
        <entry>real</entry>
        <entry>Station broadcast frequency in kHz.</entry>
</row>
<row>
        <entry>health</entry>
        <entry>integer</entry>
        <entry>&lt;health&gt; is the health of the station for
which this is an almanac. If it is non-zero, the station is
issuing suspect data and should not be used for fixes.  The
ITU and RTCM104 standards differ about the mode detailed
interpretation of the &lt;health&gt; field and even about its
bit width.<!--
From itu p.9 just under the type7 msg figure:

    *** Radiobeacon health:
                  00     (0) Radiobeacon operation normal
                  01     (1) No integrity monitor operating
                  10     (2) No information available
                  11     (3) Do not use this radiobeacon
RTCM104, in the other hand, makes it 3 bits wide.

The Sager documentation said health has the same meaning as in the header,
but this cannot be true unless the field is 3 bits wide.
--></entry>
</row>
<row>
        <entry>station_id</entry>
        <entry>integer</entry>
        <entry>The id of the transmitter. This is not the same
as the reference id in the header, the latter being the id of
the reference receiver. <!-- John Sager noted: "However I know
of at least one station that gets it wrong." --></entry>
</row>
<row>
        <entry>bitrate</entry>
        <entry>integer</entry>
        <entry>The transmitted bitrate.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":9,"station_id":268,"zcount":252.6,
        "seqnum":4,"length":5,"station_health":0,
        "satellites":[
            {"ident":13,"udre":0,"iod":3,"prc":-25.940,"rrc":0.066},
            {"ident":2,"udre":0,"iod":73,"prc":0.920,"rrc":-0.080},
            {"ident":8,"udre":0,"iod":22,"prc":23.820,"rrc":0.014}
]}
</programlisting>

</refsect3>
<refsect3><title>Type 13: GPS Time of Week</title>

<para>Here are the payload members of a type 13 (Groumf Tramitter Parameters)
message:</para>

<table frame="all" pgwide="0"><title>Ground Transmitter Parameters</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>status</entry>
        <entry>bool</entry>
        <entry>If True, signals user to expect a type 16 explanatory
message associated with this station. Probably indicates some
sort of unusual event.</entry>
</row>
<row>
        <entry>rangeflag</entry>
        <entry>bool</entry>
        <entry>If True, indicates that the estimated range is
different from that found in the type 7 message (which contains the
beacon's listed range). Generally indicates a range reduction due to
causes such as poor ionospheric conditions or reduced transmission
power.</entry>
</row>
<row>
        <entry>lat</entry>
        <entry>real</entry>
        <entry>Degrees latitude, signed.
Positive is N, negative is S.</entry>
</row>
<row>
        <entry>lon</entry>
        <entry>real</entry>
        <entry>Degrees longitude, signed.
Positive is E, negative is W.</entry>
</row>
<row>
        <entry>range</entry>
        <entry>integer</entry>
        <entry>Transmission range in km (1-1024).</entry>
</row>
</tbody>
</tgroup>
</table>

<para>This message type replaces message type 3 (Reference Station Parameters)
in RTCM 2.3.</para>

</refsect3>
<refsect3><title>Type 14: GPS Time of Week</title>

<para>Here are the payload members of a type 14 (GPS Time of Week)
message:</para>

<table frame="all" pgwide="0"><title>Reference Station Parameters</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>week</entry>
        <entry>integer</entry>
        <entry>GPS week (0-123).</entry>
</row>
<row>
        <entry>hour</entry>
        <entry>integer</entry>
        <entry>Hour of week (0-167).</entry>
</row>
<row>
        <entry>leapsecs</entry>
        <entry>integer</entry>
        <entry>Leap Seconds (0-63).</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":14,"station_id":652,"zcount":1657.2,
        "seqnum":3,"length":1,"station_health":6,"week":601,"hour":109,
        "leapsecs":15}
</programlisting>

</refsect3>
<refsect3><title>Type 16: Special Message</title>

<table frame="all" pgwide="0"><title>Special Message</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>message</entry>
        <entry>string</entry>
        <entry>A text message sent by the beacon operator.</entry>
</row>
</tbody>
</tgroup>
</table>

</refsect3>
<refsect3><title>Type 31: Correction data</title>

<para>One or more GLONASS satellite objects follow the header for type
1 or type 9 messages. Here is the format:</para>

<table frame="all" pgwide="0"><title>Satellite object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
        <entry>Name</entry>
        <entry>Type</entry>
        <entry>Description</entry>
</row>
</thead>
<tbody>
<row>
        <entry>ident</entry>
        <entry>integer</entry>
        <entry>The PRN number of the satellite for which this is
correction data.</entry>
</row>
<row>
        <entry>udre</entry>
        <entry>integer</entry>
        <entry>User Differential Range Error (0-3). See the
table following for values.</entry>
</row>
<row>
        <entry>change</entry>
        <entry>boolean</entry>
        <entry>Change-of-ephemeris bit.</entry>
</row>
<row>
        <entry>tod</entry>
        <entry>uinteger</entry>
        <entry>Count of 30-second periods since the top of the
hour.</entry>
</row>
<row>
        <entry>prc</entry>
        <entry>real</entry>
        <entry>The pseudorange error in meters for this
satellite as measured by the beacon reference receiver at the
epoch indicated by the z_count in the parent
record.</entry>
</row>
<row>
        <entry>rrc</entry>
        <entry>real</entry>
        <entry>The rate of change of pseudorange error in
meters/sec for this satellite as measured by the beacon
reference receiver at the epoch indicated by the z_count field
in the parent record. This is used to calculate pseudorange
errors at other epochs, if required by the GPS
receiver.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":31,"station_id":652,"zcount":1642.2,
    "seqnum":0,"length":14,"station_health":6,
    "satellites":[
        {"ident":5,"udre":0,"change":false,"tod":0,"prc":132.360,"rrc":0.000},
        {"ident":15,"udre":0,"change":false,"tod":0,"prc":134.840,"rrc":0.002},
        {"ident":14,"udre":0,"change":false,"tod":0,"prc":141.520,"rrc":0.000},
        {"ident":6,"udre":0,"change":false,"tod":0,"prc":127.000,"rrc":0.000},
        {"ident":21,"udre":0,"change":false,"tod":0,"prc":128.780,"rrc":0.000},
        {"ident":22,"udre":0,"change":false,"tod":0,"prc":125.260,"rrc":0.002},
        {"ident":20,"udre":0,"change":false,"tod":0,"prc":117.280,"rrc":-0.004},
        {"ident":16,"udre":0,"change":false,"tod":17,"prc":113.460,"rrc":0.018}
]}
</programlisting>

</refsect3>
</refsect2>
</refsect1>

<refsect1 id='dump-format3'><title>RTCM3 DUMP FORMAT</title>

<para>The support for RTCM104v3 dumping is incomplete and buggy.  Do not
attempt to use it for production! Anyone interested in it should read
the source code.</para>
</refsect1>

<refsect1 id='ais'><title>AIS DUMP FORMATS</title>

<para>AIS support is an extension.  It may not be present if your
instance of <application>gpsd</application> has been built with
a restricted feature set.</para>

<para>AIS packets are dumped as JSON objects with class "AIS".  Each
AIS report object contains a "type" field giving the AIS message type
and a "scaled" field telling whether the remainder of the fields are
dumped in scaled or unscaled form. (These will be emitted before any
type-specific fields.) It will also contain a "device" field naming
the data source.  Other fields have names and types as specified in
the <citetitle>AIVDM/AIVDO Protocol Decoding</citetitle> document on
the GPSD project website; each message field table may be directly
interpreted as a specification for the members of the corresponding
JSON object type.</para>

<para>By default, certain scaling and conversion operations are
performed for JSON output.  Latitudes and longitudes are scaled to
decimal degrees rather than the native AIS unit of 1/10000th of a
minute of arc.  Ship (but not air) speeds are scaled to knots rather
than tenth-of-knot units. Rate of turn may appear as "nan" if is
unavailable, or as one of the strings "fastright" or "fastleft" if it
is out of the AIS encoding range; otherwise it is quadratically mapped
back to the turn sensor number in degrees per minute. Vessel draughts
are converted to decimal meters rather than native AIS
decimeters. Various other scaling conversions are described in
<citetitle>"AIVDM/AIVDO Protocol Decoding"</citetitle>.</para>

</refsect1>
<refsect1 id='subframe'><title>SUBFRAME DUMP FORMATS</title>

<para>Subframe support is always compiled into
<application>gpsd</application> but many GPSes do not output subframe data
or the <application>gpsd</application> driver may not support subframes.
</para>

<para>Subframe packets are dumped as JSON objects with class "SUBFRAME".
Each subframe report object contains a "frame" field giving the subframe
number, a "tSV" field for the transmitting satellite number, a "TOW17"
field containing the 17 MSBs of the start of the next 12-second message
and a "scaled" field telling whether the remainder of the fields are
dumped in scaled or unscaled form. It will also contain a "device" field
naming the data source.  Each SUBFRAME object will have a sub-object
specific to that subframe page type.  Those sub-object fields have names
and types similar to those specified in the IS-GPS-200E document; each
message field table may be directly interpreted as a specification for
the members of the corresponding JSON object type.</para>

</refsect1>

<refsect1 id='see_also'><title>SEE ALSO</title>
<para>
<citerefentry><refentrytitle>gpsd</refentrytitle><manvolnum>8</manvolnum>
</citerefentry>,
<citerefentry><refentrytitle>libgps</refentrytitle><manvolnum>3</manvolnum>
</citerefentry>,
</para>
</refsect1>

<refsect1 id='maintainer'><title>AUTHOR</title>

<para>The protocol was designed and documented by Eric S. Raymond.</para>
</refsect1>

</refentry>