NAV-POSECEF (0x0101)

Message	NAV-POSECEF
Description	Position Solution in ECEF
Type	Periodic/Polled
Comment	-
Id	0x0101

Number Format	Name	Bitmasks	Comment	Type
U4	iTOW		GPS Millisecond Time of Week
I4	ecefX		ECEF X coordinate
I4	ecefY		ECEF Y coordinate
I4	ecefZ		ECEF Z coordinate
U4	pAcc		Position Accuracy Estimate

NAV-POSLLH (0x0102)

Message	NAV-POSLLH
Description	Geodetic Position Solution
Type	Periodic/Polled
Comment	This message outputs the Geodetic position in the currently selected Ellipsoid. The default is the WGS84 Ellipsoid, but can be changed with the message CFG-DAT.
Id	0x0102

Number Format	Name	Bitmasks	Comment	Type
U4	iTOW		GPS Millisecond Time of Week
I4	lon		Longitude
I4	lat		Latitude
I4	height		Height above Ellipsoid
I4	hMSL		Height above mean sea level
U4	hAcc		Horizontal Accuracy Estimate
U4	vAcc		Vertical Accuracy Estimate

NAV-STATUS (0x0103)

Message	NAV-STATUS
Description	Receiver Navigation Status
Type	Periodic/Polled
Comment	-
Id	0x0103

Number Format

Name

Bitmasks

Comment

Type

iTOW

GPS Millisecond Time of Week

gpsFix

GPSfix Type

flags

Mask	Description
0x01	gpsFixOk
0x02	diffSoln
0x04	wknSet
0x08	towSet

Navigation Status Flags

diffStat

Mask	Description
0x03	dgpsIStat

Differential Status

res

Reserved

ttff

Time to first fix (millisecond time tag)

msss

Milliseconds since Startup / Reset

NAV-DOP (0x0104)

Message	NAV-DOP
Description	Dilution of precision
Type	Periodic/Polled
Comment	* DOP values are dimensionless. * All DOP values are scaled by a factor of 100. that is, if the unit transmits a value of e.g. 156, it means that the DOP value is 1.56.
Id	0x0104

Number Format	Name	Bitmasks	Comment	Type
U4	iTOW		GPS Millisecond Time of Week
U2	gDOP		Geometric DOP
U2	pDOP		Position DOP
U2	tDOP		Time DOP
U2	vDOP		Vertical DOP
U2	hDOP		Horizontal DOP
U2	nDOP		Northing DOP
U2	eDOP		Easting DOP

NAV-SOL (0x0106)

Message	NAV-SOL
Description	Navigation Solution Information
Type	Periodic/Polled
Comment	This message is combiningPosition, velocity and time solution in ECEF,including accuracy figures
Id	0x0106

Number Format

Name

Bitmasks

Comment

Type

iTOW

GPS Millisecond Time of Week

fTOW

Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000

week

GPS week (GPS time)

gpsFix

GPSfix Type, range 0..4

flags

Mask	Description
0x01	GPSfixOK
0x02	DiffSoln
0x04	WKNSET
0x08	TOWSET

Fix Status Flags

ecefX

ECEF X coordinate

ecefY

ECEF Y coordinate

ecefZ

ECEF Z coordinate

pAcc

3D Position Accuracy Estimate

ecefVX

ECEF X velocity

ecefVY

ECEF Y velocity

ecefVZ

ECEF Z velocity

sAcc

Speed Accuracy Estimate

pDOP

Position DOP

res1

reserved

numSV

Number of SVs used in Nav Solution

res2

reserved

NAV-VELECEF (0x0111)

Message	NAV-VELECEF
Description	Velocity Solution in ECEF
Type	Periodic/Polled
Comment	-
Id	0x0111

Number Format	Name	Bitmasks	Comment	Type
U4	iTOW		GPS Millisecond Time of Week
I4	ecefVX		ECEF X velocity
I4	ecefVY		ECEF Y velocity
I4	ecefVZ		ECEF Z velocity
U4	sAcc		Speed Accuracy Estimate

NAV-VELNED (0x0112)

Message	NAV-VELNED
Description	Velocity Solution in NED
Type	Periodic/Polled
Comment	-
Id	0x0112

Number Format	Name	Bitmasks	Comment	Type
U4	iTOW		GPS Millisecond Time of Week
I4	velN		NED north velocity
I4	velE		NED east velocity
I4	velD		NED down velocity
U4	speed		Speed (3-D)
U4	gSpeed		Ground Speed (2-D)
I4	heading		Heading 2-D
U4	sAcc		Speed Accuracy Estimate
U4	cAcc		Course / Heading Accuracy Estimate

NAV-TIMEGPS (0x0120)

Message	NAV-TIMEGPS
Description	GPS Time Solution
Type	Periodic/Polled
Comment	-
Id	0x0120

Number Format

Name

Bitmasks

Comment

Type

iTOW

GPS Millisecond time of Week

fTOW

Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000

week

GPS week (GPS time)

leapS

Leap Seconds (GPS-UTC)

valid

Mask	Description
0x01	tow
0x02	week
0x04	utc

Validity Flags

tAcc

Time Accuracy Estimate

NAV-TIMEUTC (0x0121)

Message	NAV-TIMEUTC
Description	UTC Time Solution
Type	Periodic/Polled
Comment	-
Id	0x0121

Number Format

Name

Bitmasks

Comment

Type

iTOW

GPS Millisecond Time of Week

tAcc

Time Accuracy Estimate

nano

Nanoseconds of second, range -500000000 .. 500000000 (UTC)

year

Year, range 1999..2099 (UTC)

month

Month, range 1..12 (UTC)

day

Day of Month, range 1..31 (UTC)

hour

Hour of Day, range 0..23 (UTC)

min

Minute of Hour, range 0..59 (UTC)

sec

Seconds of Minute, range 0..59 (UTC)

valid

Mask	Description
0x01	validTOW
0x02	validWKN
0x04	validUTC

Validity Flags

NAV-CLOCK (0x0122)

Message	NAV-CLOCK
Description	Clock Solution
Type	Periodic/Polled
Comment	-
Id	0x0122

Number Format	Name	Bitmasks	Comment	Type
U4	iTOW		GPS Millisecond Time of week
I4	clkB		clock bias in nanoseconds
I4	clkD		clock drift in nanoseconds per second
U4	tAcc		Time Accuracy Estimate
U4	fAcc		Frequency Accuracy Estimate

NAV-SVINFO (0x0130)

Message	NAV-SVINFO
Description	Space Vehicle Information
Type	Periodic/Polled
Comment	-
Id	0x0130

Number Format

Name

Bitmasks

Comment

Type

iTOW

GPS Millisecond time of week

numCh

Number of channels

globalFlags

Mask	Description
0x01	isU5

Bitmask

res2

Reserved

GPS_UBX_NAV_SVINFO_CHN_t

repeat numCh times

NAV-SBAS (0x0132)

Message	NAV-SBAS
Description	SBAS Status Data
Type	Periodic/Polled
Comment	This message outputs the status of the SBAS sub system
Id	0x0132

Number Format

Name

Bitmasks

Comment

Type

iTOW

GPS Millisecond time of week

geo

PRN Number of the GEO where correction and integrity data is used from

mode

SBAS Mode

sys

SBAS System (WAAS/EGNOS/...)

service

Mask	Description
0x01	Ranging
0x02	Corrections
0x04	Integrity
0x08	Testmode

SBAS Services available

cnt

Number of SV data following

res

Reserved

array of 3 items

GPS_UBX_NAV_SBAS_SVID_t

repeat cnt times

RXM-RAW (0x0210)

Message	RXM-RAW
Description	Raw Measurement Data
Type	Periodic/Polled
Comment	This message contains all information needed to be able to generate a RINEX file.
Id	0x0210

Number Format	Name	Bitmasks	Comment	Type
I4	iTOW		Measurement integer millisecond GPS time of week (Receiver Time)
I2	week		Measurement GPS week number (Receiver Time).
U1	numSV		# of satellites following.
U1	res1		Reserved
GPS_UBX_RXM_RAW_CPMES_t	?		?	repeat numSV times

RXM-SFRB (0x0211)

Message	RXM-SFRB
Description	Subframe Buffer
Type	Periodic
Comment	The content of one single subframe buffer +For GPS satellites, the 10 dwrd values contain the parity checked subframe data for 10 Words. Each dwrd has 24 Bits with valid data (Bits 23 to 0). The remaining 8 bits (31 to 24) have an undefined value. The direction within the Word is that the higher order bits are received from the SV first. Example: The Preamble can be found in dwrd[0], at bit position 23 down to 16. For more details on the data format please refer to the ICD-GPS-200C Interface document. +For SBAS satellites, the 250 Bit message block can be found in dwrd[0] to dwrd[6] for the first 224 bits. The remaining 26 bits are in dwrd[7], whereas Bits 25 and 24 are the last two data bits, and Bits 23 down to 0 are the parity bits. For more information on SBAS data format, please refer to RTCA/DO-229C (MOPS), Appendix A.
Id	0x0211

Number Format	Name	Bitmasks	Comment	Type
U1	chn		Channel Number
U1	svid		ID of Satellite transmitting Subframe
X4	dwrd		Words of Data	array of 10 items

RXM-SVSI (0x0220)

Message	RXM-SVSI
Description	SV Status Info
Type	Periodic/Polled
Comment	Status of the receiver manager knowledge about GPS Orbit Validity
Id	0x0220

Number Format	Name	Bitmasks	Comment	Type
I4	iTOW		Measurement integer millisecond GPS time of week
I2	week		Measurement GPS week number.
U1	numVis		number of visible satellites
U1	numSV		number of per-SV data blocks following
GPS_UBX_RXM_SVSI_SVID_t	?		?	repeat numSV times

INF-ERROR (0x0400)

Message	INF-ERROR
Description	ASCII String output, indicating an error
Type
Comment	This message has a variable length payload, representing an ASCII string.
Id	0x0400

This packet has no fields.

INF-WARNING (0x0401)

Message	INF-WARNING
Description	ASCII String output, indicating a warning
Type
Comment	This message has a variable length payload, representing an ASCII string.
Id	0x0401

This packet has no fields.

INF-NOTICE (0x0402)

Message	INF-NOTICE
Description	ASCII String output, with informational contents
Type
Comment	This message has a variable length payload, representing an ASCII string.
Id	0x0402

This packet has no fields.

INF-TEST (0x0403)

Message	INF-TEST
Description	ASCII String output, indicating test output
Type
Comment	This message has a variable length payload, representing an ASCII string.
Id	0x0403

This packet has no fields.

INF-DEBUG (0x0404)

Message	INF-DEBUG
Description	ASCII String output, indicating debug output
Type
Comment	This message has a variable length payload, representing an ASCII string.
Id	0x0404

This packet has no fields.

ACK-NAK (0x0500)

Message	ACK-NAK
Description	Message Not-Acknowledged
Type	Answer
Comment	Output upon processing of an input message
Id	0x0500

Number Format	Name	Bitmasks	Comment	Type
U1	clsID		Class Id of the Not-Acknowledged Message
U1	msgID		Message Id of the Not-Acknowledged Message

ACK-ACK (0x0501)

Message	ACK-ACK
Description	Message Acknowledged
Type	Answer
Comment	Output upon processing of an input message
Id	0x0501

Number Format	Name	Bitmasks	Comment	Type
U1	clsID		Class Id of the Acknowledged Message
U1	msgID		Message Id of the Acknowledged Message

CFG-PRT-POLL (0x0600)

Message	CFG-PRT-POLL
Description	Polls the configuration for one I/O Port
Type	Poll Request
Comment	Sending this message with a port ID as payload results in having the receiver return the configuration for the given port. If the payload is omitted, the configuration for the incoming port is returned
Id	0x0600

Number Format	Name	Bitmasks	Comment	Type
U1	PortID		Port Identifier Number

CFG-PRT-UART-U5 (0x0600)

Message	CFG-PRT-UART-U5
Description	Get/Set Port Configuration for UART, USB Port(s)
Type	Get/Set
Comment	Several configurations can be concatenated to one input message. In this case the payload length can be a multiple of the normal length. Output messages from the module contain only one configuration unit. Note that some fields are interpreted differentlydepending on communication port type (see alternate descriptions of this message) \note: For the USB Port, the mode and baudrate fields are ignored.
Id	0x0600

Number Format

Name

Bitmasks

Comment

Type

portID

Port Identifier Number

res0

Reserved

res1

Reserved

mode

Mask	Description
0x000000C0	charLen
0x00000E00	parity
0x00003000	nStopBits

A bit mask describing the UART mode

baudRate

Baudrate in bits/second

inProtoMask

Mask	Description
0x0001	ubx
0x0002	nmea
0x0004	rtcm

A mask describing which input protocols are active

outProtoMask

Mask	Description
0x0001	ubx
0x0002	nmea
0x0008	raw

A mask describing which output protocols are active.

flags

Reserved, set to 0

pad

Reserved, set to 0

CFG-PRT-SPI-U5 (0x0600)

Message	CFG-PRT-SPI-U5
Description	Get/Set Port Configuration for SPI Port(s)
Type	Get/Set
Comment	Several configurations can be concatenated to one input message. In this case the payload length can be a multiple of the normal length. Output messages from the module contain only one configuration unit. Note that some fields are interpreted differentlydepending on communication port type (see alternate descriptions of this message) \note: Description of this message indicating the fields used in u-blox 5
Id	0x0600

Number Format

Name

Bitmasks

Comment

Type

portID

Port Identifier Number

res0

Reserved

res1

Reserved

mode

Mask	Description
0x00000006	spiMode
0x0000FF00	ffCnt

SPI Mode Flags

baudRate

Unused, set to 0

inProtoMask

Mask	Description
0x0001	ubx
0x0002	nmea
0x0004	rtcm

A mask describing which input protocols are active

outProtoMask

Mask	Description
0x0001	ubx
0x0002	nmea
0x0008	raw

A mask describing which output protocols are active.

flags

Reserved, set to 0

pad

Reserved, set to 0

CFG-PRT-I2C-U5 (0x0600)

Message	CFG-PRT-I2C-U5
Description	Get/Set Port Configuration for I2C Port(s)
Type	Get/Set
Comment	Several configurations can be concatenated to one input message. In this case the payload length can be a multiple of the normal length. Output messages from the module contain only one configuration unit. Note that some fields are interpreted differentlydepending on communication port type (see alternate descriptions of this message) \note: Description of this message indicating the fields used in u-blox 5
Id	0x0600

Number Format

Name

Bitmasks

Comment

Type

portID

Port Identifier Number

res0

Reserved

res1

Reserved

mode

Mask	Description
0x000000FE	slaveAddr

I2C Mode Flags

baudRate

Unused, set to 0

inProtoMask

Mask	Description
0x0001	ubx
0x0002	nmea
0x0004	rtcm

A mask describing which input protocols are active

outProtoMask

Mask	Description
0x0001	ubx
0x0002	nmea
0x0008	raw

A mask describing which output protocols are active.

flags

Reserved, set to 0

pad

Reserved, set to 0

CFG-MSG-POLL (0x0601)

Message	CFG-MSG-POLL
Description	Poll a message configuration
Type	Poll Request
Comment	-
Id	0x0601

Number Format	Name	Bitmasks	Comment	Type
U1	class		Message Class
U1	msgID		Message Identifier

CFG-MSG (0x0601)

Message	CFG-MSG
Description	Set Message Rate(s)
Type	Set/Get
Comment	Set/Get message rate configuration (s) to/from the receiver * Several configurations can be concatenated to one input message. In this case the payload length can be a multiple of the normal length. Output messages from the module contain only one configuration unit. * Send rate is relative to the event a message is registered on. For example, if the rate of a navigation message is set to 2, the message is sent every second navigation solution.For configuring NMEA messages, the section NMEA Messages Overview describes Class and Identifier numbers used.
Id	0x0601

Number Format	Name	Bitmasks	Comment	Type
U1	class		Message Class
U1	msgID		Message Identifier
U1	rate		Send rate on I/O Target (4 Targets)	array of 4 items

CFG-MSG-SETCURRENT (0x0601)

Message	CFG-MSG-SETCURRENT
Description	Set Message Rate
Type	Set/Get
Comment	Set message rate configuration for the current target
Id	0x0601

Number Format	Name	Bitmasks	Comment	Type
U1	class		Message Class
U1	msgID		Message Identifier
U1	rate		Send rate on current Target

CFG-INF-POLL (0x0602)

Message	CFG-INF-POLL
Description	Poll INF message configuration for one protocol
Type	Poll Request
Comment	-
Id	0x0602

Number Format	Name	Bitmasks	Comment	Type
U1	protocolID		Protocol Identifier, identifying the output protocol for this Poll Request. The following are valid Protocol Identifiers:

CFG-INF (0x0602)

Message	CFG-INF
Description	Information message configuration
Type	Set/Get
Comment	The value of INFMSG_mask below are that each bit represents one of the INFclass messages (Bit 0 for ERROR, Bit 1 for WARNING and so on.). For a completelist, please see the Message Class INF.Several configurations can be concatenated to one input message. In thiscase the payload length can be a multiple of the normal length. Output messages from the module contain only one configuration unit. Please note that I/O Targets 0, 1 and 2 correspond to serial ports 0, 1 and 2. I/O target 3 is reserved for future use.
Id	0x0602

Number Format

Name

Bitmasks

Comment

Type

protocolID

Protocol Identifier, identifying for which protocol the configuration is set/get. The following are valid Protocol Identifiers:

res0

Reserved

res1

Reserved

infMsgMask

Mask	Description
0x01	ERROR
0x02	WARNING
0x04	NOTICE
0x08	DEBUG
0x10	TEST
0x80	USER

A bit mask, saying which information messages are enabled on each I/O target

array of 4 items

CFG-RST (0x0604)

Message	CFG-RST
Description	Reset Receiver / Clear Backup Data Structures
Type	Command
Comment	-
Id	0x0604

Number Format

Name

Bitmasks

Comment

Type

navBbrMask

Mask	Description
0x0001	eph
0x0002	alm
0x0004	health
0x0008	klob
0x0010	pos
0x0020	clkd
0x0040	osc
0x0080	utc
0x0100	rtc

BBR Sections to clear. The following Special Sets apply:

resetMode

Reset Type

res

Reserved

CFG-DAT-POLL (0x0606)

Message	CFG-DAT-POLL
Description	Poll Datum Setting
Type	Poll Request
Comment	Upon sending of this message, the receiver returns CFG-DAT as defined below
Id	0x0606

Number Format

Name

Bitmasks

Comment

Type

CFG-DAT-STANDARD (0x0606)

Message	CFG-DAT-STANDARD
Description	Set Standard Datum
Type	Set
Comment	See section Geodetic Datums for a list of supported Datums
Id	0x0606

Number Format	Name	Bitmasks	Comment	Type
U2	datumNum		Datum Number

CFG-DAT-CUSTOM (0x0606)

Message	CFG-DAT-CUSTOM
Description	Set User-defined Datum
Type	Set
Comment	-
Id	0x0606

Number Format	Name	Bitmasks	Comment	Type
R8	majA		Semi-major Axis ( accepted range = 6,300,000.0 to 6,500,000.0 metres ).
R8	flat		1.0 / Flattening ( accepted range is 0.0 to 500.0 ).
R4	dX		X Axis shift at the origin ( accepted range is +/- 5000.0 metres ).
R4	dY		Y Axis shift at the origin ( accepted range is +/- 5000.0 metres ).
R4	dZ		Z Axis shift at the origin ( accepted range is +/- 5000.0 metres ).
R4	rotX		Rotation about the X Axis ( accepted range is +/- 20.0 milli-arc seconds ).
R4	rotY		Rotation about the Y Axis ( accepted range is +/- 20.0 milli-arc seconds ).
R4	rotZ		Rotation about the Z Axis ( accepted range is +/- 20.0 milli-arc seconds ).
R4	scale		Scale change ( accepted range is 0.0 to 50.0 parts per million ).

CFG-DAT (0x0606)

Message	CFG-DAT
Description	Get currently selected Datum
Type	Get
Comment	The Parameter datumName is only valid, if datumNum is not equal to -1. In case datumNum is -1,the receiver is configured for a custom datum. The parameters from majA to scale are valid for both custom or standard datum formats.
Id	0x0606

Number Format	Name	Bitmasks	Comment	Type
U2	datumNum		Datum Number according to Geodetic Datums
CH	datumName		ASCII String with Datum Mnemonic	array of 6 items
R8	majA		Semi-major Axis ( accepted range = 6,300,000.0 to 6,500,000.0 metres ).
R8	flat		1.0 / Flattening ( accepted range is 0.0 to 500.0 ).
R4	dX		X Axis shift at the origin ( accepted range is +/- 5000.0 metres ).
R4	dY		Y Axis shift at the origin ( accepted range is +/- 5000.0 metres ).
R4	dZ		Z Axis shift at the origin ( accepted range is +/- 5000.0 metres ).
R4	rotX		Rotation about the X Axis ( accepted range is +/- 20.0 milli-arc seconds ).
R4	rotY		Rotation about the Y Axis ( accepted range is +/- 20.0 milli-arc seconds ).
R4	rotZ		Rotation about the Z Axis ( accepted range is +/- 20.0 milli-arc seconds ).
R4	scale		Scale change ( accepted range is 0.0 to 50.0 parts per million ).

CFG-TP-POLL (0x0607)

Message	CFG-TP-POLL
Description	Poll TimePulse Parameters
Type	Poll Request
Comment	Sending this (empty / no-payload) message to the receiver results in the receiver returning a message of type CFG-TP with a payload as definedbelow
Id	0x0607

Number Format

Name

Bitmasks

Comment

Type

CFG-TP (0x0607)

Message	CFG-TP
Description	Get/Set TimePulse Parameters
Type	Get/Set
Comment	-
Id	0x0607

Number Format

Name

Bitmasks

Comment

Type

interval

time interval for time pulse

length

length of time pulse

status

time pulse config setting

timeRef

alignment to reference time:

flags

Mask	Description
0x01	syncMode

bitmask

res

reserved

antennaCableDelay

Antenna Cable Delay

rfGroupDelay

Receiver RF Group Delay

userDelay

User Time Function Delay (positive delay results in earlier pulse)

CFG-RATE-POLL (0x0608)

Message	CFG-RATE-POLL
Description	Poll Navigation/Measurement Rate Settings
Type	Poll Request
Comment	Sending this (empty / no-payload) message to the receiver results in the receiver returning a message of type CFG-RATE with a payload as defined below
Id	0x0608

Number Format

Name

Bitmasks

Comment

Type

CFG-RATE (0x0608)

Message	CFG-RATE
Description	Navigation/Measurement Rate Settings
Type	Get/Set
Comment	The u-blox positioning technology supports navigation update rates higher or lower than 1 update per second. The calculation of the navigation solution will always be aligned to the top of a second. * The update rate has a direct influence on the power consumption. The more fixes that are required, the more CPU power and communication resources are required. * For most applications a 1 Hz update rate would be sufficient.
Id	0x0608

Number Format	Name	Bitmasks	Comment	Type
U2	measRate		Measurement Rate, GPS measurements are taken every measRate milliseconds
U2	navRate		Navigation Rate, in number of measurement cycles. On u-blox 5, this parameter cannot be changed, and is always equals 1.
U2	timeRef		alignment to reference time: 0 = UTC time, 1 = GPS time

CFG-CFG (0x0609)

Message	CFG-CFG
Description	Clear, Save and Load configurations
Type	Command
Comment	The three masks are made up of individual bits, each bit indicating the section ID on which the corresponding action shall be carried out.Please note that commands can be combined. The sequence of execution is Clear, Save, Load
Id	0x0609

Number Format

Name

Bitmasks

Comment

Type

clearMask

Mask	Description
0x0001	ioPort
0x0002	msgConf
0x0004	infMsg
0x0008	navConf
0x0010	rxmConf
0x0020	lpmConf
0x0400	antConf

Mask with configuration ids to Clear (=Load Factory Defaults to Active Settings)

saveMask

Mask with configuration ids to Save (=Save Active Settings to Non-volatile Memory), see ID description of clearMask

loadMask

Mask with configuration ids to Load (=Load Settings from Non-volatile Memory to Active Settings), see ID description of clearMask

CFG-ANT-POLL (0x0613)

Message	CFG-ANT-POLL
Description	Poll Antenna Control Settings
Type	Poll Request
Comment	Sending this (empty / no-payload) message to the receiver results in the receiver returning a message of type CFG-ANT with a payload as definedbelow
Id	0x0613

Number Format

Name

Bitmasks

Comment

Type

CFG-ANT (0x0613)

Message	CFG-ANT
Description	Get/Set Antenna Control Settings
Type	Get/Set
Comment	-
Id	0x0613

Number Format

Name

Bitmasks

Comment

Type

flags

Mask	Description
0x0001	svcs
0x0002	scd
0x0004	ocd
0x0008	pdwnOnSCD
0x0010	recovery

Antenna Flag Mask

pins

Mask	Description
0x001F	pinSwitch
0x03E0	pinSCD
0x7C00	pinOCD

Antenna Pin Configuration (READ-ONLY)

CFG-SBAS-U5 (0x0616)

Message	CFG-SBAS-U5
Description	SBAS Configuration
Type	Command
Comment	This message configures the SBAS receiver subsystem. (i.e. WAAS, EGNOS, MSAS)For detailed description of the SBAS services, please refer to Document RTCA/DO-229C (MOPS), available from http://www.rtca.org/
Id	0x0616

Number Format

Name

Bitmasks

Comment

Type

mode

Mask	Description
0x01	enabled
0x02	test

SBAS Mode

usage

Mask	Description
0x01	range
0x02	diffCorr
0x04	integrity

SBAS Usage

maxSBAS

Maximum Number of SBAS channels searched (valid range: 0 - 3) to use

scanmode2

Mask	Description
0x01	PRN152
0x02	PRN153
0x04	PRN154
0x08	PRN155
0x10	PRN156
0x20	PRN157
0x40	PRN158

Continuation of scanmode bitmask below

scanmode1

Mask	Description
0x00000001	PRN120
0x00000002	PRN121
0x00000004	PRN122
0x00000008	PRN123
0x00000010	PRN124
0x00000020	PRN125
0x00000040	PRN126
0x00000080	PRN127
0x00000100	PRN128
0x00000200	PRN129
0x00000400	PRN130
0x00000800	PRN131
0x00001000	PRN132
0x00002000	PRN133
0x00004000	PRN134
0x00008000	PRN135
0x00010000	PRN136
0x00020000	PRN137
0x00040000	PRN138
0x00080000	PRN139
0x00100000	PRN140
0x00200000	PRN141
0x00400000	PRN142
0x00800000	PRN143
0x01000000	PRN144
0x02000000	PRN145
0x04000000	PRN146
0x08000000	PRN147
0x10000000	PRN148
0x20000000	PRN149
0x40000000	PRN150
0x80000000	PRN151

Which SBAS PRN numbers to search for (Bitmask)

CFG-NMEA-POLL (0x0617)

Message	CFG-NMEA-POLL
Description	Poll the NMEA protocol configuration
Type	Poll Request
Comment	-
Id	0x0617

Number Format

Name

Bitmasks

Comment

Type

CFG-NMEA (0x0617)

Message	CFG-NMEA
Description	Set/Get the NMEA protocol configuration
Type	Set/Get
Comment	Set/Get the NMEA protocol configuration
Id	0x0617

Number Format

Name

Bitmasks

Comment

Type

filter

Mask	Description
0x01	posFilt
0x02	mskPosFilt
0x04	timeFilt
0x08	dateFilt
0x10	sbasFilt
0x20	trackFilt

filter flags

version

0x23 = NMEA version 2.3

numSV

Maximum Number of SVs to report in NMEA protocol.

flags

Mask	Description
0x01	compat
0x02	consider

flags

CFG-USB-POLL (0x061B)

Message	CFG-USB-POLL
Description	Poll a USB configuration
Type	Poll Request
Comment	-
Id	0x061B

Number Format

Name

Bitmasks

Comment

Type

CFG-USB (0x061B)

Message	CFG-USB
Description	Get/Set USB Configuration
Type	Get/Set
Comment	-
Id	0x061B

Number Format

Name

Bitmasks

Comment

Type

vendorID

Vendor ID. This field shall only be set to registered

productID

Product ID. Changing this field requres special Host drivers.

reserved1

This field is reserved. Always set to 0

reserved2

This field is reserved for special use. Always set to 1

powerConsumption

Power consumed by the device in mA

flags

Mask	Description
0x0001	reEnum
0x0002	powerMode

various configuration flags

vendorString

String containing the vendor name. 32 ASCII bytes including 0-termination.

array of 32 items

productString

String containing the product name. 32 ASCII bytes including 0-termination.

array of 32 items

serialNumber

String containing the serial number. 32 ASCII bytes including 0-termination.

array of 32 items

CFG-TMODE-POL (0x061D)

Message	CFG-TMODE-POL
Description	Poll Time Mode Settings
Type	Poll Request
Comment	Sending this (empty / no-payload) message to the receiver results in the receiver returning a message of type CFG-TMODE with a payload as defined below \note: This message is only supported on fw version >=V5.00 and if an appropriate license is installed in the receiver.
Id	0x061D

Number Format

Name

Bitmasks

Comment

Type

CFG-TMODE (0x061D)

Message	CFG-TMODE
Description	Time Mode Settings
Type	Get/Set
Comment	- \note: This message is only supported on fw version >=V5.00 and if an appropriate license is installed in the receiver.
Id	0x061D

Number Format	Name	Bitmasks	Comment	Type
U4	timeMode		Time Transfer Mode:
I4	fixedPosX		Fixed Position ECEF X coordinate
I4	fixedPosY		Fixed Position ECEF Y coordinate
I4	fixedPosZ		Fixed Position ECEF Z coordinate
U4	fixedPosVar		Fixed position 3D variance
U4	svinMinDur		Survey-in minimum duration
U4	svinVarLimit		Survey-in position variance limit

CFG-NAV5-POLL (0x0624)

Message	CFG-NAV5-POLL
Description	Poll Navigation Engine Settings
Type	Poll Request
Comment	Sending this (empty / no-payload) message to the receiver results in the receiver returning a message of type CFG-NAV5 with a payload as defined below.
Id	0x0624

Number Format

Name

Bitmasks

Comment

Type

CFG-NAV5 (0x0624)

Message	CFG-NAV5
Description	Get/Set Navigation Engine Settings
Type	Get/Set
Comment	See the Navigation Configuration Settings Description for adetailed description of how these settings affect receiver operation.
Id	0x0624

Number Format

Name

Bitmasks

Comment

Type

mask

Mask	Description
0x01	dyn
0x02	minEl
0x04	fixMode
0x08	drLim
0x10	posMask
0x20	timeMask
0x40	staticHoldMask

Parameters Bitmask. Only the masked parameters will be applied.

dynModel

Dynamic Platform model:

fixMode

Position Fixing Mode.

fixedAlt

Fixed altitude for 2D fix mode.

fixedAltVar

Fixed altitude variance for 2D mode.

minElev

Minimum Elevation for a GNSS satellite to be used in NAV

drLimit

Maximum time to perform DR (linear extrapolation) in case of GPS Signal Loss

pDop

Position DOP Mask to use

tDop

Time DOP Mask to use

pAcc

Position Accuracy Mask

tAcc

Time Accuracy Mask

staticHoldThresh

Static hold threshold

res1

reserved, set to 0

res2

reserved, set to 0

res3

reserved, set to 0

res4

reserved, set to 0

MON-IO (0x0A02)

Message	MON-IO
Description	I/O Subsystem Status
Type	Periodic/Polled
Comment	The size of the message is determined by the NPRT number of ports the receiver supports.i.e. on Antaris this is always 4, on u-blox 5 the number of ports is 6.
Id	0x0A02

Number Format	Name	Bitmasks	Comment	Type
GPS_UBX_MON_IO_RXBYTES_t	?		?	repeat NPRT times

MON-VER (0x0A04)

Message	MON-VER
Description	Receiver/Software Version
Type	Answer to Poll
Comment	-
Id	0x0A04

Number Format	Name	Bitmasks	Comment	Type
CH	swVersion		Zero-terminated Software Version String	array of 30 items
CH	hwVersion		Zero-terminated Hardware Version String	array of 10 items
CH	extension		Installed Extension Package Version	array of 30 items

MON-MSGPP-U5 (0x0A06)

Message	MON-MSGPP-U5
Description	Message Parse and Process Status
Type	Periodic/Polled
Comment	-
Id	0x0A06

Number Format	Name	Bitmasks	Comment	Type
U2	msg1		Number of successfully parsed messages for each protocol on target0	array of 8 items
U2	msg2		Number of successfully parsed messages for each protocol on target1	array of 8 items
U2	msg3		Number of successfully parsed messages for each protocol on target2	array of 8 items
U2	msg4		Number of successfully parsed messages for each protocol on target3	array of 8 items
U2	msg5		Number of successfully parsed messages for each protocol on target4	array of 8 items
U2	msg6		Number of successfully parsed messages for each protocol on target5	array of 8 items
U4	skipped		Number skipped bytes for each target	array of 6 items

MON-RXBUF-U5 (0x0A07)

Message	MON-RXBUF-U5
Description	Receiver Buffer Status
Type	Periodic/Polled
Comment	-
Id	0x0A07

Number Format	Name	Bitmasks	Comment	Type
U2	pending		Number of bytes pending in receiver buffer for each target	array of 6 items
U1	usage		Maximum usage receiver buffer during the last sysmon period for each target	array of 6 items
U1	peakUsage		Maximum usage receiver buffer for each target	array of 6 items

MON-TXBUF-U5 (0x0A08)

Message	MON-TXBUF-U5
Description	Transmitter Buffer Status
Type	Periodic/Polled
Comment	-
Id	0x0A08

Number Format

Name

Bitmasks

Comment

Type

pending

Number of bytes pending in transmitter buffer for each target

array of 6 items

usage

Maximum usage transmitter buffer during the last sysmon period for each target

array of 6 items

peakUsage

Maximum usage transmitter buffer for each target

array of 6 items

tUsage

Maximum usage of transmitter buffer during the last sysmon period for all targets

tPeakusage

Maximum usage of transmitter buffer for all targets

errors

Mask	Description
0x3F	limit
0x80	alloc

Error bitmask

res

reserved

MON-HW (0x0A09)

Message	MON-HW
Description	Hardware Status
Type	Periodic/Polled
Comment	Status of different aspect of the hardware, such as Antenna, PIO/Peripheral Pins, Noise Level, Automatic Gain Control (AGC)
Id	0x0A09

Number Format

Name

Bitmasks

Comment

Type

pinSel

Mask of Pins Set as Peripheral/PIO

pinBank

Mask of Pins Set as Bank A/B

pinDir

Mask of Pins Set as Input/Output

pinVal

Mask of Pins Value Low/High

noisePerMS

Noise Level as measured by the GPS Core

agcCnt

AGC Monitor (counts SIGHI xor SIGLO, range 0 to 8191)

aStatus

Status of the Antenna Supervisor State Machine (0=INIT, 1=DONTKNOW, 2=OK, 3=SHORT, 4=OPEN)

aPower

Current PowerStatus of Antenna (0=OFF, 1=ON, 2=DONTKNOW)

flags

Mask	Description
0x1	rtcCalib

Flags

res1

reserved for future use

usedMask

Mask of Pins that are used by the Virtual Pin Manager

Array of Pin Mappings for each of the 32 Physical Pins

array of 32 items

pinIrq

Mask of Pins Value using the PIO Irq

GPS_UBX_MON_HW_RESH_t

optional

AID-REQ (0x0B00)

Message	AID-REQ
Description	Sends a poll (AID-DATA) for all GPS Aiding Data
Type	Virtual
Comment	If the virtual AID-REQ is configured to be output (see CFG-MSG), the receiver will output a request for aiding data (AID-DATA) after a start-up if its internally stored data (position, time, ephemeris, almana) don't allow it to perform a hot start. \note: AID-REQ is not a message but a placeholder for configuration purposes.
Id	0x0B00

Number Format

Name

Bitmasks

Comment

Type

AID-INI-POLL- (0x0B01)

Message	AID-INI-POLL-
Description	Poll GPS Initial Aiding Data
Type	Poll Request
Comment	- \note: This message has an empty payload!
Id	0x0B01

Number Format

Name

Bitmasks

Comment

Type

AID-INI-U5- (0x0B01)

Message	AID-INI-U5-
Description	Aiding position, time, frequency, clock drift
Type	Polled
Comment	-
Id	0x0B01

Number Format

Name

Bitmasks

Comment

Type

ecefXOrLat

WGS84 ECEF X coordinate or latitude, depending on flags below

ecefYOrLon

WGS84 ECEF Y coordinate or longitude, depending on flags below

ecefZOrAlt

WGS84 ECEF Z coordinate or altitude, depending on flags below

posAcc

position accuracy (stddev)

tmCfg

Mask	Description
0x02	fEdge
0x10	tm1
0x40	f1

time mark configuration

actual week number

tow

actual time of week

towNs

sub-millisecond part of time of week

tAccMs

milliseconds part of time accuracy

tAccNs

nanoseconds part of time accuracy

clkDOrFreq

clock drift or frequency, depending on flags below

clkDAccOrFreqAcc

accuracy of clock drift or frequency, depending on flags below

flags

Mask	Description
0x01	pos
0x02	time
0x04	clockD
0x08	tp
0x10	clockF
0x20	lla
0x40	altInv
0x80	prevTm

bitmask with the following flags

AID-HUI-POLL (0x0B02)

Message	AID-HUI-POLL
Description	Poll GPS Health, UTC and ionosphere parameters
Type	Poll Request
Comment	- \note: This message has an empty payload!
Id	0x0B02

Number Format

Name

Bitmasks

Comment

Type

AID-HUI (0x0B02)

Message	AID-HUI
Description	GPS Health, UTC and ionosphere parameters
Type	Input/Output Message
Comment	This message contains a health bit mask, UTC time and Klobuchar parameters.For more information on these parameters, please see the ICD-GPS-200 documentation.
Id	0x0B02

Number Format

Name

Bitmasks

Comment

Type

health

Bitmask, every bit represenst a GPS SV (1-32). If the bit is set the SV is healthy.

utcA1

UTC - parameter A1

utcA0

UTC - parameter A0

utcTOW

UTC - reference time of week

utcWNT

UTC - reference week number

utcLS

UTC - time difference due to leap seconds before event

utcWNF

UTC - week number when next leap second event occurs

utcDN

UTC - day of week when next leap second event occurs

utcLSF

UTC - time difference due to leap seconds after event

utcSpare

UTC - Spare to ensure structure is an multiple of 4 bytes

klobA0

Klobuchar - alpha 0

klobA1

Klobuchar - alpha 1

klobA2

Klobuchar - alpha 2

klobA3

Klobuchar - alpha 3

klobB0

Klobuchar - beta 0

klobB1

Klobuchar - beta 1

klobB2

Klobuchar - beta 2

klobB3

Klobuchar - beta 3

flags

Mask	Description
0x1	health
0x2	utc
0x4	klob

flags

AID-DATA (0x0B10)

Message	AID-DATA
Description	Polls all GPS Initial Aiding Data
Type	Poll
Comment	If this poll is received, the messages AID-INI, AID-HUI, AID-EPH and AID-ALM are sent (Antaris only). u-blox 5 uses this message just to poll.
Id	0x0B10

Number Format

Name

Bitmasks

Comment

Type

AID-ALM-POLL (0x0B30)

Message	AID-ALM-POLL
Description	Poll GPS Aiding Almanach Data
Type	Poll Request
Comment	Poll GPS Aiding Data (Almanach) for all 32 SVs by sending this message to the receiver without any payload.The receiver will return 32 messages of type AID-ALM as defined below. \note: This message has an empty payload!
Id	0x0B30

Number Format

Name

Bitmasks

Comment

Type

AID-ALM-POLL-SINGLE (0x0B30)

Message	AID-ALM-POLL-SINGLE
Description	Poll GPS Aiding Almanach Data for a SV
Type	Poll Request
Comment	Poll GPS Aiding Data (Almanach) for an SV by sending this message to the receiver. The receiver will return one message of type AID-ALM as defined below.
Id	0x0B30

Number Format	Name	Bitmasks	Comment	Type
U1	svid		SV ID for which the receiver shall return

AID-ALM (0x0B30)

Message	AID-ALM
Description	GPS Aiding Almanach Input/Output Message
Type	Input/Output Message
Comment	* If the WEEK Value is 0, DWRD0 to DWRD7 are not sent as the almanach is not available for the given SV. * DWORD0 to DWORD7 contain the 8 words following the Hand-Over Word ( HOW ) from the GPS navigation message, either pages 1 to 24 of sub-frame 5 or pages 2 to 10 of subframe 4. See ICD-GPS-200 for a full description of the contents of the Almanac pages. * In DWORD0 to DWORD7, the parity bits have been removed, and the 24 bits of data are located in Bits 0 to 23. Bits 24 to 31 are the sign-extension of the data. * Example: Parameter e (Eccentricity) from Almanach Subframe 4/5, Word 3, Bits 69-84 within the subframe can be found in DWRD0, Bits 15-0 whereas Bit 0 is the LSB.
Id	0x0B30

Number Format	Name	Bitmasks	Comment	Type
U4	svid		SV ID for which this
U4	week		Issue Date of Almanach (GPS week number)
GPS_UBX_AID_ALM_DWRD_t	?		?	optional

AID-EPH-POLL (0x0B31)

Message	AID-EPH-POLL
Description	Poll GPS Aiding Ephemeris Data
Type	Poll Request
Comment	Poll GPS Aiding Data (Ephemeris) for all 32 SVs by sending this message to the receiver without any payload. The receiver will return 32 messages of type AID-EPH as defined below. \note: This message has an empty payload!
Id	0x0B31

Number Format

Name

Bitmasks

Comment

Type

AID-EPH-POLL-SINGLE (0x0B31)

Message	AID-EPH-POLL-SINGLE
Description	Poll GPS Aiding Ephemeris Data for a SV
Type	Poll Request
Comment	Poll GPS Constellation Data (Ephemeris) for an SV by sending this message to the receiver. The receiver will return one message of type AID-EPH as defined below.
Id	0x0B31

Number Format	Name	Bitmasks	Comment	Type
U1	svid		SV ID for which the receiver shall return

AID-EPH (0x0B31)

Message	AID-EPH
Description	GPS Aiding Ephemeris Input/Output Message
Type	Input/Output Message
Comment	* SF1D0 to SF3D7 is only sent if ephemeris is available for this SV. If not, the payload is reduced to 4 Bytes, indicating that this SV Number does not have valid ephemeris for the moment. * SF1D0 to SF3D7 contain the 24 words following the Hand-Over Word ( HOW ) from the GPS navigation message, subframes 1 to 3. See ICD-GPS-200 for a full description of the contents of the Subframes. * In SF1D0 to SF3D7, the parity bits have been removed, and the 24 bits of data are located in Bits 0 to 23. Bits 24 to 31 are the sign-extension of the data.
Id	0x0B31

Number Format	Name	Bitmasks	Comment	Type
U4	svid		SV ID for which this ephemeris data is
U4	how		Hand-Over Word of first Subframe,
GPS_UBX_AID_EPH_SF1D_t	?		?	optional

AID-ALPSRV-REQ (0x0B32)

Message	AID-ALPSRV-REQ
Description	ALPSRV-REQ: ALP client requests AlmanacPlus data from server
Type	Output Message
Comment	This message is sent by the ALP client to the ALP server in order to request a data chunk. The given identifier must be prepended to the requested data when submitting the data.
Id	0x0B32

Number Format	Name	Bitmasks	Comment	Type
U1	idSize		Identifier size. This data, beginning at message start, must prepend the returned data.
U1	type		Requested data type. Must be different from 0xff, otherwise this is not a data request.
U2	ofs		Requested data offset [16bit words]
U2	size		Requested data size [16bit words]
U2	fileId		Unused when requesting data, filled in when sending back the data
U2	dataSize		Actual data size. Unused when requesting data, filled in when sending back the data.
U1	id1		Identifier data
U1	id2		Identifier data
U4	id3		Identifier data

AID-ALPSRV-SRV (0x0B32)

Message	AID-ALPSRV-SRV
Description	ALPSRV-SRV: ALP server sends AlmanacPlus data to client
Type	Input Message
Comment	This message is sent by the ALP server to the ALP client and is usually sent in response to a data request. The server copies the identifier from the request and fills in the dataSize and fileId fields.
Id	0x0B32

Number Format	Name	Bitmasks	Comment	Type
U1	idSize		Identifier size
U1	type		Requested data type
U2	ofs		Requested data offset [16bit words]
U2	size		Requested data size [16bit words]
U2	fileId		Corresponding ALP file ID, must be filled in by the server!
U2	dataSize		Actual data contained in this message, must be filled in by the server!
U1	id1		Identifier data
U1	id2		Identifier data
U4	id3		Identifier data
GPS_UBX_AID_ALPSRV_SRV_DATA_t	?		?	repeat dataSize times

AID-ALPSRV-CLI (0x0B32)

Message	AID-ALPSRV-CLI
Description	ALPSRV-CLI: ALP client sends AlmanacPlus data to server.
Type	Output Message
Comment	This message is sent by the ALP client to the ALP server in order to submit updated data. The server can either replace the current data at this position or choose to ignore this new data (which will result in degraded performance).
Id	0x0B32

Number Format	Name	Bitmasks	Comment	Type
U1	idSize		Identifier size
U1	type		Set to 0xff to mark that is not a data request
U2	ofs		Data offset [16bit words]
U2	size		Data size [16bit words]
U2	fileId		Corresponding ALP file id
GPS_UBX_AID_ALPSRV_CLI_DATA_t	?		?	repeat size times

AID-ALP-TX (0x0B50)

Message	AID-ALP-TX
Description	ALP file data transfer to the receiver
Type	Input message
Comment	This message is used to transfer a chunk of data from the AlmanacPlus file to the receiver. Upon reception of this message, the receiver will write the payload data to its internal non-volatile memory, eventually also erasing that part of the memory first. Make sure that the payload size is even sized (i.e. always a multiple of 2). Do not use payloads larger than ~ 700 bytes, as this would exceed the receiver�s internal buffering capabilities. The receiver will (not-) acknowledge this message using the message alternatives given below. The host shall wait for an acknowledge message before sending the next chunk.
Id	0x0B50

Number Format	Name	Bitmasks	Comment	Type
GPS_UBX_AID_ALP_TX_ALPDATA_t	?		?	repeat Variable times

AID-ALP-END (0x0B50)

Message	AID-ALP-END
Description	Mark end of data transfer
Type	Input message
Comment	This message is used to indicate that all chunks have been transferred, and normal receiver operation can resume. Upon reception of this message, the receiver will verify all chunks received so far, and enable AssistNow Offline and GPS receiver operation if successful. This message could also be sent to cancel an incomplete download.
Id	0x0B50

Number Format	Name	Bitmasks	Comment	Type
U1	dummy		Value is ignored

AID-ALP-ACK (0x0B50)

Message	AID-ALP-ACK
Description	Acknowledges a data transfer
Type	Output message
Comment	This message from the receiver acknowledges successful processing of a previously received chunk of data with the �Chunk Transfer� Message. This message will also be sent once a �Stop� message has been received, and the integrity of all chunks received so far has been checked successfully.
Id	0x0B50

Number Format	Name	Bitmasks	Comment	Type
U1	ack		Set to 0x01

AID-ALP-NAK (0x0B50)

Message	AID-ALP-NAK
Description	Indicate problems with a data transfer
Type	Output message
Comment	This message from the receiver indicates that an error has occurred while processing and storing the data received with the �Chunk Transfer� message. This message will also be sent once a stop command has been received, and the integrity of all chunks received failed.
Id	0x0B50

Number Format	Name	Bitmasks	Comment	Type
U1	nak		Set to 0x00

AID-ALP-STAT (0x0B50)

Message	AID-ALP-STAT
Description	Poll the AlmanacPlus status
Type	Periodic/Polled
Comment	-
Id	0x0B50

Number Format	Name	Bitmasks	Comment	Type
U4	predTow		Prediction start time of week
U4	predDur		Prediction duration from start of first data set to end of last data set
I4	age		Current age of ALP data
U2	predWno		Prediction start week number
U2	almWno		Truncated week number of reference almanac
U4	res1		Reserved for future use
U1	svs		Number of satellite data sets contained in the ALP data
U1	res2		Reserved for future use
U1	res3		Reserved for future use
U1	res4		Reserved for future use

TIM-TP (0x0D01)

Message	TIM-TP
Description	Timepulse Timedata
Type	Periodic/Polled
Comment	This message contains information for high precision timing. Note that contents are correct only if the timepulse is set to one pulse per second.
Id	0x0D01

Number Format

Name

Bitmasks

Comment

Type

towMS

Timepulse GPS time of week

towSubMS

Submillisecond part of TOWMS

qErr

Quantization error of timepulse.

week

Timepulse GPS week number.

flags

Mask	Description
0x01	timeBase
0x02	utc

bitmask

res

unused