felix@felix ~ $ ubxtool -p STATUS -p CONFIG -P 20.30 ubxtool: poll STATUS sent: UBX-MON-VER: Poll request sent: UBX-LOG-INFO: Poll request sent: UBX-MON-GNSS: Poll request sent: UBX-MON-HW: Poll request sent: UBX-MON-HW2: Poll request sent: UBX-MON-IO: Poll request sent: UBX-MON-MSGPP: Poll request sent: UBX-MON-RF: Poll request sent: Class x0a (MON) ID x0a, len 0x0, raw sent: UBX-MON-TXBUF: Poll request sent: UBX-NAV-SVIN: Poll request sent: UBX-TIM-SVIN: Poll request 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 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-LOG-INFO: version 1 reserved1 x0 x0 filestoreCapacity 1493760 reserved2 x9600 x11a300 currentMaxLogSize 0 currentLogSize 0 entryCount 0 oldestYear 0 oldestMonth 0 oldestDay 0 oldestHour 0 oldestMin 0 oldestSec 0 reserved3 x0 newestYear 0 newestMonth 0 newestDay 0 newestHour 0 newestMin 0 newestSec 0 reserved4 x0 status x10 reserved5 x0 x0 UBX-MON-GNSS: version 0 supported 0x7 defaultGnss 0x3 enabled 0x3 simultaneous 2 reserved1 0 0 0 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 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 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 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 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 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 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 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 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 UBX-ACK-ACK: ACK to Class x06 (CFG) ID x1e (ODO) UBX-CFG-PRT: PortID 3 (USB) reserved1 0 txReady 0x0 reserved2 [2256 9600] inProtoMask 0x23 outProtoMask 0x1 reserved3 0 reserved4 0 inProtoMask (UBX NMEA RTCM3) outProtoMask (UBX) 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-ACK-ACK: ACK to Class x06 (CFG) ID x00 (PRT) 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-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-NAK: NAK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-ACK-ACK: ACK to Class x06 (CFG) ID x01 (MSG) UBX-NAV-SOL: iTOW 205549000 fTOW -214422 week 2105 gpsFix 3 flags xdd ECEF X 371789877 Y 75096876 Z 511061881 pAcc 1291 VECEF X 8 Y 5 Z 13 sAcc 20 pDOP 306 reserved1 3 numSV 8 reserved2 62265618 UBX-NAV-PVT: iTOW 205549000 time 2020/5/12 9: 5:31 valid x37 tAcc 26 nano -214421 fixType 3 flags x1 flags2 xeb numSV 8 lon 114193813 lat 536020406 height 42511 hMSL -808 hAcc 7069 vAcc 10807 velN 7 velE 33 velD -151 gSpeed 34 headMot 0 sAcc 200 headAcc 11542372 pDOP 306 reserved1 0 6418 15142 headVeh 3876377 magDec 0 magAcc 0 UBX-NAV-SVINFO: iTOW:205549000 ms, numCh:17 globalFlags:4 chn 15 svid 2 flags 0x0d quality 0x7 cno 36 elev 26 azim 113 prRes -910 svUsed orbitAvail orbitEph chn 0 svid 6 flags 0x0d quality 0x7 cno 28 elev 28 azim 78 prRes 6532 svUsed orbitAvail orbitEph chn 1 svid 12 flags 0x0d quality 0x7 cno 35 elev 87 azim 33 prRes -478 svUsed orbitAvail orbitEph chn 5 svid 17 flags 0x0c quality 0x7 cno 26 elev 6 azim 40 prRes -9692 orbitAvail orbitEph chn 6 svid 19 flags 0x0d quality 0x7 cno 30 elev 24 azim 46 prRes -1932 svUsed orbitAvail orbitEph chn 4 svid 22 flags 0x04 quality 0x1 cno 0 elev 3 azim 340 prRes 0 orbitAvail chn 11 svid 24 flags 0x0d quality 0x7 cno 32 elev 46 azim 148 prRes -232 svUsed orbitAvail orbitEph chn 7 svid 25 flags 0x0d quality 0x7 cno 31 elev 58 azim 265 prRes -1353 svUsed orbitAvail orbitEph chn 13 svid 65 flags 0x04 quality 0x4 cno 20 elev 27 azim 287 prRes 0 orbitAvail chn 12 svid 66 flags 0x04 quality 0x4 cno 25 elev 13 azim 351 prRes 0 orbitAvail chn 10 svid 72 flags 0x04 quality 0x4 cno 18 elev 13 azim 244 prRes 0 orbitAvail chn 2 svid 73 flags 0x0d quality 0x7 cno 33 elev 51 azim 93 prRes -7 svUsed orbitAvail orbitEph chn 3 svid 74 flags 0x0d quality 0x7 cno 27 elev 76 azim 349 prRes 1796 svUsed orbitAvail orbitEph chn 14 svid 75 flags 0x04 quality 0x4 cno 23 elev 23 azim 295 prRes 0 orbitAvail chn 8 svid 83 flags 0x04 quality 0x1 cno 0 elev 45 azim 51 prRes 0 orbitAvail chn 9 svid 84 flags 0x04 quality 0x1 cno 0 elev 43 azim 144 prRes 0 orbitAvail chn 16 svid 85 flags 0x04 quality 0x1 cno 0 elev 0 azim 180 prRes 0 orbitAvail UBX-NAV-SAT: iTOW 205549000 version 1 numSvs 17 reserved1 0 0 gnssId 0 svid 2 cno 36 elev 26 azim 113 prRes -91 flags x91f gnssId 0 svid 6 cno 28 elev 28 azim 78 prRes 653 flags x91f gnssId 0 svid 12 cno 35 elev 87 azim 33 prRes -48 flags x91f gnssId 0 svid 17 cno 26 elev 6 azim 40 prRes -969 flags x1917 gnssId 0 svid 19 cno 30 elev 24 azim 46 prRes -193 flags x191f gnssId 0 svid 22 cno 0 elev 3 azim 340 prRes 0 flags x1211 gnssId 0 svid 24 cno 32 elev 46 azim 148 prRes -23 flags x191f gnssId 0 svid 25 cno 31 elev 58 azim 265 prRes -135 flags x91f gnssId 6 svid 1 cno 20 elev 27 azim 287 prRes 0 flags x1214 gnssId 6 svid 2 cno 25 elev 13 azim 351 prRes 0 flags x1214 gnssId 6 svid 8 cno 18 elev 13 azim 244 prRes 0 flags x1214 gnssId 6 svid 9 cno 33 elev 51 azim 93 prRes -1 flags x191f gnssId 6 svid 10 cno 27 elev 76 azim 349 prRes 180 flags x191f gnssId 6 svid 11 cno 23 elev 23 azim 295 prRes 0 flags x1214 gnssId 6 svid 19 cno 0 elev 45 azim 51 prRes 0 flags x1211 gnssId 6 svid 20 cno 0 elev 43 azim 144 prRes 0 flags x1211 gnssId 6 svid 21 cno 0 elev 0 azim 180 prRes 0 flags x1211 UBX-NAV-POSECEF: iTOW 205549000 ecefX 371789877 Y 75096876 Z 511061881 pAcc 1291 UBX-NAV-DOP: iTOW 205549000 gDOP 379 pDOP 306 tDOP 222 vDOP 260 hDOP 163 nDOP 104 eDOP 125 UBX-NAV-VELECEF: iTOW 205549000 ecef: VX 8 VY 5 VZ 13 vAcc:20 UBX-NAV-TIMEGPS: iTOW 205549000 fTOW -214422 week 2105 leapS 18 valid x7 tAcc 26 UBX-NAV-TIMELS: iTOW 205549000 version 0 reserved2 0 0 0 srcOfCurrLs 2 currLs 18 srcOfLsChange 2 lsChange 0 timeToLsEvent 48783270 dateOfLsGpsWn 2185 dateOfLsGpsDn 7 reserved2 0 0 0 valid x3 UBX-NAV-SVIN: version 0 reserved1[0 0 0] iTOW 205549000 dur 0 meanX 0 meanY 0 meanZ 0 meanXHP 0 meanYHP 0 meanZHP 0 reserved2 0 meanAcc 0 obs 0 valid 0 active 0 UBX-MON-MSGPP: msg1 0 0 0 0 0 0 0 0 msg2 0 0 0 0 0 0 0 0 msg3 0 0 0 0 0 0 0 0 msg4 0 0 0 0 0 0 0 0 msg5 0 0 0 0 0 0 0 0 msg6 0 0 0 0 0 0 0 0 skipped 0 0 0 0 0 0 UBX-MON-TXBUF: pending 0 0 0 0 0 0 usage 0 0 0 0 0 0 peakUsage 0 0 0 0 0 0 tUsage 25 tPeakUsage 27 errors x0 reserved1 0 UBX-MON-IO: Port: 0 (DDC) rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0 overrunErrs 0 breakCond 0 reserved 0 Port: 1 (UART1) rxBytes 104 txBytes 160446 parityErrs 0 framingErrs 0 overrunErrs 0 breakCond 0 reserved 256 Port: 2 (UART2) rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0 overrunErrs 0 breakCond 0 reserved 0 Port: 3 (USB) rxBytes 1101 txBytes 9584 parityErrs 0 framingErrs 0 overrunErrs 0 breakCond 0 reserved 256 Port: 4 (SPI) rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0 overrunErrs 0 breakCond 0 reserved 0 Port: 5 (Reserved) rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0 overrunErrs 0 breakCond 0 reserved 0 UBX-MON-HW: pinSel 0x1f400 pinBank 0x0 pinDir 0x14000 pinVal 0x1f7ef noisePerMS 96 agcCnt 858 aStatus 2 aPower 1 flags 0x1 reserved1 132 usedMask 0x1ebff VP 10 11 12 13 14 15 1 0 2 3 255 16 255 18 68 54 53 jamInd 59 reserved2 239 126 pinIrq 0x0 pullH 0x1b780 pullL 0x0 UBX-MON-HW2: ofsI -60 magI 151 ofsQ 55 magQ 141 cfgSource 102 reserved0 8 7 0 lowLevCfg 4294967295 reserved1 4294967295 4294967295 postStatus 0 reserved2 0 UBX-NAV-SOL: iTOW 205550000 fTOW -214464 week 2105 gpsFix 3 flags xdd ECEF X 371789892 Y 75096911 Z 511061922 pAcc 1289 VECEF X 8 Y 9 Z 12 sAcc 22 pDOP 306 reserved1 3 numSV 8 reserved2 62265618 UBX-NAV-PVT: iTOW 205550000 time 2020/5/12 9: 5:32 valid x37 tAcc 26 nano -214462 fixType 3 flags x1 flags2 xeb numSV 8 lon 114193861 lat 536020412 height 42962 hMSL -356 hAcc 7064 vAcc 10779 velN -5 velE 69 velD -154 gSpeed 69 headMot 0 sAcc 224 headAcc 11543248 pDOP 306 reserved1 0 6418 15142 headVeh 3876377 magDec 0 magAcc 0 UBX-NAV-POSECEF: iTOW 205550000 ecefX 371789892 Y 75096911 Z 511061922 pAcc 1289 UBX-NAV-DOP: iTOW 205550000 gDOP 379 pDOP 306 tDOP 222 vDOP 260 hDOP 163 nDOP 104 eDOP 125 UBX-NAV-VELECEF: iTOW 205550000 ecef: VX 8 VY 9 VZ 12 vAcc:22 UBX-NAV-TIMEGPS: iTOW 205550000 fTOW -214464 week 2105 leapS 18 valid x7 tAcc 26