felix@felix ~/Desktop/gpsd $ ubxtool -p CONFIG -P 20.30 -v 2 ::/dev/ttyACM0
ubxtool: poll CONFIG

sent:
UBX-MON-VER:
  Poll request

sent:
UBX-CFG-ANT:
  Poll request

sent:
UBX-CFG-DAT:
  Poll request

sent:
UBX-CFG-GEOFENCE:
  Poll request

sent:
UBX-CFG-GNSS:
  Poll request

sent:
UBX-CFG-INF:
  Poll request: UBX

sent:
UBX-CFG-INF:
  Poll request: NMEA

sent:
UBX-CFG-LOGFILTER:
  Poll request

sent:
UBX-CFG-NAV5:
  Poll request

sent:
UBX-CFG-NAVX5:
  Poll request

sent:
UBX-CFG-NMEA:
  Poll request

sent:
UBX-CFG-ODO:
  Poll request

sent:
UBX-CFG-PRT:
  Poll request

sent:
UBX-CFG-PM2:
  Poll request

sent:
UBX-CFG-PMS:
  Poll request

sent:
UBX-CFG-RATE:
  Poll request

sent:
UBX-CFG-RXM:
  Poll request

sent:
UBX-CFG-TP5:
  Poll request

sent:
UBX-CFG-USB:
  Poll request

{"class":"VERSION","release":"3.20.1~dev","rev":"release-3.20-794-gffbbfc625","proto_major":3,"proto_minor":14}
{"class":"DEVICES","devices":[{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25},{"class":"DEVICE","path":"ntrip://root:root","driver":"u-blox","activated":"2020-05-27T09:30:25.517Z","flags":5}]}
{"class":"WATCH","enable":true,"json":false,"nmea":false,"raw":2,"scaled":false,"timing":false,"split24":false,"pps":false,"device":"/dev/ttyACM0"}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-27T09:30:25.299Z","flags":1,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}
UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-CFG-ANT:
 flags x1b pins xb9f0 pinSwitch 16 pinSCD 15 pinOCD 14 reconfig 1
      flags (svcs scd pdwnOnSCD recovery)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x13 (ANT)

UBX-CFG-DAT:
  datumNum 0 datumNam 87 71 83 56 52 0
  majA 6378137.0 flat 298.3 dX 0.0 dY 0.0 dZ 0.0
  rotX 0.0 rotY 0.0 rotZ 0.0 scale 0.0
   datumName (WGS84)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x06 (DAT)

UBX-CFG-GEOFENCE:
 version 0 numFences 0 confLvl 0 reserved1 32
 pioEnabled 0 pinPolarity 0 pin 0 reserved2 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x69 (GEOFENCE)

UBX-CFG-GNSS:
 msgVer 0  numTrkChHw 28 numTrkChUse 28 numConfigBlocks 4
  gnssId 0 TrkCh  8 maxTrCh 16 reserved 0 Flags x01010001
   GPS L1C/A enabled
  gnssId 3 TrkCh  8 maxTrCh 16 reserved 0 Flags x01010000
   BeiDou B1I 
  gnssId 5 TrkCh  0 maxTrCh  3 reserved 0 Flags x01010001
   QZSS L1C/A enabled
  gnssId 6 TrkCh  8 maxTrCh 14 reserved 0 Flags x01010001
   GLONASS L1 enabled

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x3e (GNSS)

UBX-CFG-INF:
 protocolId 0 reserved1 0 0 0
 infMsgMask 0 0 0 0 0 0
   protocolId (UBX)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x02 (INF)

UBX-CFG-INF:
 protocolId 1 reserved1 0 0 0
 infMsgMask 7 7 0 7 7 0
   protocolId (NMEA)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x02 (INF)

UBX-CFG-LOGFILTER:
 version 1 flags x0 minInterval 0 timeThreshold 0
 speedThreshold 0 positionThreshold 0
   flags ()

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x47 (LOGFILTER)

UBX-CFG-NAV5:
 mask 0xffff dynModel 0 fixmode 3 fixedAlt 0 FixedAltVar 10000
 minElev 10 drLimit 0 pDop 250 tDop 250 pAcc 100 tAcc 350
 staticHoldThresh 0 dgpsTimeOut 60 cnoThreshNumSVs 0
 cnoThresh 0 res 0 staticHoldMaxDist 0 utcStandard 0
 reserved x0 0
   dynModel (Portable) fixMode (Auto 2D/3D) utcStandard (Default)
   mask (dyn minEl posFixMode drLim posMask timeMask staticHoldMask dgpsMask cnoThreshold utc)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x24 (NAV5)

UBX-CFG-NAVX5:
 version 2 mask1 xffff mask2 x33f reserved1 259 minSVs 3 maxSVs 20 minCNO 6
 reserved2 0 iniFix3D 0 reserved3 1  ackAiding 0 wknRollover 1867
 sigAttenCompMode 0 reserved456 1 0 257 usePPP 1 aopCfg 0 reserved7 25600
 aopOrbMaxErr 0 reserved89 1179904 0 0 useAdr 0
   mask1 (minMax minCno initial3dfix wknRoll ackAid ppp aop)
   mask2 () aopCfg ()

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x23 (NAVX5)

UBX-CFG-NMEA:
 filter x0 nmeaVersion x40 numSv 0 flags x2 gnssToFilter x0
 svNumbering 0 mainTalkerId 0 gsvTalkerId 0 version 1
 bdsTalkerId 0 0 reserved1 0 0 0 0 0 0
  filter () NMEA Version (4.0) numSv (Unlimited) flags (consider)
  gnssToFilter () svNumbering (Strict) mainTalkerId (Default)
  gsvTalkerId (GNSS Specific)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x17 (NMEA)

UBX-CFG-ODO:
 version 0 reserved1 0 0 0 flags x0 odoCfg x0
 reserved2 0 0 25 70 25 102
 cagMaxSpeed 10 cogMaxPosAcc 50 reserved3 0 0
 velLpGain 153 cogLpGain 76 reserved4 0 0
   flags () odoCfg (Running)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x1e (ODO)

UBX-CFG-PRT:
 PortID 3 (USB) reserved1 0 txReady 0x0
  reserved2 [0 0]
  inProtoMask 0x23 outProtoMask 0x23
  reserved3 0 reserved4 0
    inProtoMask (UBX NMEA RTCM3)
    outProtoMask (UBX NMEA RTCM3)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x00 (PRT)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x3b (PM2)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x86 (PMS)

UBX-CFG-RATE:
 measRate 1000 navRate 1 timeRef 1 (GPS)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x08 (RATE)

UBX-CFG-RXM:
 reserved1 72 lpMode 0 (Continuous Mode)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x11 (RXM)

UBX-CFG-TP5:
  tpIdx 0 version 1 reserved1 0
  antCableDelay 50 rfGroupDelay 0 freqPeriod 1000000 freqPeriodLock 1000000
  pulseLenRatio 0 pulseLenRatioLock 100000 userConfigDelay 0
  flags x77
    flags (Active lockGnssFreq lockedOtherSet isLength alignToTow RisingEdge)
    gridToGps (UTC) syncMode 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x31 (TP5)

UBX-CFG-USB:
  vendorID 0x1546 productID 0x1a8 reserved1 0 reserved2 0
  powerConsumption 100 mA flags 0x2
    flags (bus-powered)
  vendorString u-blox AG - www.u-blox.com
  productString u-blox GNSS receiver
  serialNumber 

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x1b (USB)

UBX-NAV-PVT:
  iTOW 293445000 time 2020/5/27  9:30:27 valid xf7
  tAcc 1024 nano -144640 fixType 3 flags x1 flags2 xea
  numSV 6 lon 114189483 lat 536018057 height 84626
  hMSL 41307 hAcc 8441 vAcc 9745
  velN -13 velE -8 velD 32 gSpeed 15 headMot 13548854
  sAcc 622 headAcc 4235691 pDOP 458 reserved1 0 6418 15142
  headVeh 3876377 magDec 0 magAcc 0
    valid (validDate ValidTime fullyResolved) fixType (3D)
    flags (gnssFixOK)
    flags2 (confirmedAvai confirmedDate confirmedTime)
    psmState (Not Active)
    carrSoln (None)

UBX-NAV-POSECEF:
  iTOW 293445000 ecefX 371794957 Y 75094977 Z 511063720 pAcc 1289

UBX-NAV-DOP:
  iTOW 293445000 gDOP 535 pDOP 458 tDOP 277 vDOP 358
  hDOP 286 nDOP 234 eDOP 164

UBX-NAV-VELECEF:
  iTOW 293445000 ecef: VX -1 VY -1 VZ -3 vAcc:62

UBX-NAV-TIMEGPS:
  iTOW 293445000 fTOW -144640 week 2107 leapS 18 valid x7 tAcc 24
   valid (towValid weekValid leapValid)

$GNRMC,093027.00,A,5336.10834,N,01125.13690,E,0.030,,270520,,,A*67

$GNVTG,,T,,M,0.030,N,0.055,K,A*3E

$GNGGA,093027.00,5336.10834,N,01125.13690,E,1,06,2.86,41.3,M,43.3,M,,*72

$GNGSA,A,3,25,29,12,02,06,,,,,,,,4.58,2.86,3.58*1C

$GNGSA,A,3,73,,,,,,,,,,,,4.58,2.86,3.58*13

$GPGSV,2,1,07,02,39,071,34,06,20,038,28,12,48,093,35,25,80,090,35*72

$GPGSV,2,2,07,26,02,281,20,29,57,211,33,31,,,23*79

$GLGSV,2,1,06,65,14,300,,66,13,001,,73,66,119,31,74,69,318,25*68

$GLGSV,2,2,06,75,12,308,,80,04,127,*61

$GNGLL,5336.10834,N,01125.13690,E,093027.00,A,A*7F

UBX-NAV-EOE:
 iTOW 293445000

UBX-NAV-PVT:
  iTOW 293446000 time 2020/5/27  9:30:28 valid xf7
  tAcc 1024 nano -144662 fixType 3 flags x1 flags2 xea
  numSV 6 lon 114189430 lat 536018060 height 84036
  hMSL 40717 hAcc 8421 vAcc 9712
  velN 38 velE -34 velD 52 gSpeed 51 headMot 13548854
  sAcc 560 headAcc 4241633 pDOP 458 reserved1 0 6418 15142
  headVeh 3876377 magDec 0 magAcc 0
    valid (validDate ValidTime fullyResolved) fixType (3D)
    flags (gnssFixOK)
    flags2 (confirmedAvai confirmedDate confirmedTime)
    psmState (Not Active)
    carrSoln (None)

UBX-NAV-POSECEF:
  iTOW 293446000 ecefX 371794927 Y 75094936 Z 511063674 pAcc 1285

UBX-NAV-DOP:
  iTOW 293446000 gDOP 535 pDOP 458 tDOP 277 vDOP 358
  hDOP 286 nDOP 234 eDOP 164

UBX-NAV-VELECEF:
  iTOW 293446000 ecef: VX -5 VY -5 VZ -2 vAcc:56

UBX-NAV-TIMEGPS:
  iTOW 293446000 fTOW -144663 week 2107 leapS 18 valid x7 tAcc 24
   valid (towValid weekValid leapValid)

$GNRMC,093028.00,A,5336.10836,N,01125.13658,E,0.100,,270520,,,A*6C

$GNVTG,,T,,M,0.100,N,0.185,K,A*30

$GNGGA,093028.00,5336.10836,N,01125.13658,E,1,06,2.86,40.7,M,43.3,M,,*7E

$GNGSA,A,3,25,29,12,02,06,,,,,,,,4.58,2.86,3.58*1C

$GNGSA,A,3,73,,,,,,,,,,,,4.58,2.86,3.58*13

$GPGSV,2,1,07,02,39,071,35,06,20,038,28,12,48,093,35,25,80,090,36*70

$GPGSV,2,2,07,26,02,281,19,29,57,211,34,31,,,23*74

$GLGSV,2,1,06,65,14,300,,66,13,001,,73,66,119,30,74,69,318,24*68

$GLGSV,2,2,06,75,12,308,,80,04,127,*61

$GNGLL,5336.10836,N,01125.13658,E,093028.00,A,A*76

UBX-NAV-EOE:
 iTOW 293446000