Change NMEA mode setting, thus major changes in gpsd_error_model().

The start of this overly large patch was to simply move the test for MODE_2D/3D flipping, which only affect NMEA 183, back into driver_nmea0813.c But that was intertwined with how gpsd_error_model() computes derived variables, which required major changes to how NMEA 183 mode_2D/3D are set. This ultimatly led to major regression test results. Almost all for the better. I tried to break it up, but moving from one paradigm to another needed one big jump...
author: Gary E. Miller <gem@rellim.com> 2019-03-07 18:30:53 -0800
committer: Gary E. Miller <gem@rellim.com> 2019-03-07 18:30:53 -0800
commit: f9621160cc83851ca8e8c8672c7df46dad5505f1 (patch)
tree: d644033415895e7dcd65d6c479a1406ee499874c
parent: 05671b42d51a81f36a6e62a605817019be134ef3 (diff)
download: gpsd-f9621160cc83851ca8e8c8672c7df46dad5505f1.tar.gz
67 files changed, 1625 insertions, 1425 deletions
diff --git a/driver_nmea0183.c b/driver_nmea0183.c
index 3b9545b6..5d55b2d0 100644
--- a/driver_nmea0183.c
+++ b/driver_nmea0183.c
@@ -178,8 +178,7 @@ static gps_mask_t processVTG(int count,
     }
 
     /* ignore empty/missing field, fix mode of last resort */
-    if ((count > 9) && ('\0' != field[9][0]) &&
-        (MODE_NOT_SEEN == session->newdata.mode)) {
+    if ((count > 9) && ('\0' != field[9][0])) {
 
         switch (field[9][0]) {
         case 'A':
@@ -187,7 +186,6 @@ static gps_mask_t processVTG(int count,
             /* FALL THROUGH */
         case 'D':
             /* Differential, 2D or 3D fix */
-	    session->newdata.mode = MODE_2D;
             // MODE_SET here causes issues
 	    // mask |= MODE_SET;
             break;
@@ -196,7 +194,6 @@ static gps_mask_t processVTG(int count,
             /* FALL THROUGH */
         case 'N':
             /* Not Valid */
-	    session->newdata.mode = MODE_NO_FIX;
             // MODE_SET here causes issues
 	    // mask |= MODE_SET;
             // nothing to use here, leave
@@ -235,9 +232,9 @@ static gps_mask_t processRMC(int count, char *field[],
      * RMC,225446.33,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E,A*68
      * 1     225446.33    Time of fix 22:54:46 UTC
      * 2     A            Status of Fix:
-     *                    A = Autonomous, valid;
-     *                    D = Differential, valid;
-     *                    V = invalid
+     *                     A = Autonomous, valid;
+     *                     D = Differential, valid;
+     *                     V = invalid
      * 3,4   4916.45,N    Latitude 49 deg. 16.45 min North
      * 5,6   12311.12,W   Longitude 123 deg. 11.12 min West
      * 7     000.5        Speed over ground, Knots
@@ -245,19 +242,23 @@ static gps_mask_t processRMC(int count, char *field[],
      * 9     181194       Date of fix  18 November 1994
      * 10,11 020.3,E      Magnetic variation 20.3 deg East
      * 12    A            FAA mode indicator (NMEA 2.3 and later)
-     *                    N = No Fix
-     *                    E = Dead Reckoning
-     *                    A = GNSS fix
-     *                    D = DGNSS fix
-     *                    F = RTK Float
-     *                    R = RTK Fixed
+     *                     N = No Fix
+     *                     E = Dead Reckoning
+     *                     A = GNSS fix
+     *                     D = DGNSS fix
+     *                     F = RTK Float
+     *                     R = RTK Fixed
      * 13    V            Nav Status (NMEA 4.1 and later)
-     *                    V = Valid
-     * A=autonomous, D=differential, E=Estimated,
-     * N=not valid, S=Simulator, M=Manual input mode
+     *                     A=autonomous,
+     *                     D=differential,
+     *                     E=Estimated,
+     *                     M=Manual input mode
+     *                     N=not valid,
+     *                     S=Simulator,
+     *                     V = Valid
      * *68        mandatory nmea_checksum
      *
-     * * SiRF chipsets don't return either Mode Indicator or magnetic variation.
+     * SiRF chipsets don't return either Mode Indicator or magnetic variation.
      */
     gps_mask_t mask = 0;
     char status = field[2][0];
@@ -267,30 +268,27 @@ static gps_mask_t processRMC(int count, char *field[],
         /* missing */
         /* FALLTHROUGH */
     case 'V':
-        /* status: warning */
+        /* Invalid */
 	/* copes with Magellan EC-10X, see below */
 	if (session->gpsdata.status != STATUS_NO_FIX) {
 	    session->gpsdata.status = STATUS_NO_FIX;
 	    mask |= STATUS_SET;
 	}
-	if (session->newdata.mode >= MODE_2D) {
-	    session->newdata.mode = MODE_NO_FIX;
-	    mask |= MODE_SET;
-	}
 	/* set something nz, so it won't look like an unknown sentence */
 	mask |= ONLINE_SET;
         break;
     case 'D':
-        /* DGPS */
+        /* Differential Fix */
         /* FALLTHROUGH */
     case 'A':
-        /* status: warning */
+        /* Valid Fix */
 	/*
 	 * The MTK3301, Royaltek RGM-3800, and possibly other
 	 * devices deliver bogus time values when the navigation
 	 * warning bit is set.
 	 */
 	if (count > 9 && field[1][0] != '\0' && field[9][0] != '\0') {
+            /* looks like a good time */
 	    merge_hhmmss(field[1], session);
 	    merge_ddmmyy(field[9], session);
 	    mask |= TIME_SET;
@@ -308,15 +306,29 @@ static gps_mask_t processRMC(int count, char *field[],
 	 * received a fix.
 	 */
 	if (session->gpsdata.status == STATUS_NO_FIX) {
+            /* FIXME, this should prolly set something in newdata instead */
             if ('D' == status) {
 		session->gpsdata.status = STATUS_DGPS_FIX;
             } else {
 		/* could be DGPS_FIX, we can't tell */
 		session->gpsdata.status = STATUS_FIX;
             }
-	    mask |= STATUS_SET;
+	    /* mask |= STATUS_SET; only after status is moved to newdata */
 	}
-	if (session->newdata.mode < MODE_2D) {
+        /* FIXME: look at fields 12 and 13 */
+
+	if (3 < session->gpsdata.satellites_used) {
+            /* 4 sats used means 3D */
+	    session->newdata.mode = MODE_3D;
+	    mask |= MODE_SET;
+        } else if (0 != isfinite(session->gpsdata.fix.altitude)) {
+            /* we probably have at least a 3D fix */
+            /* this handles old GPS that do not report 3D */
+	    session->newdata.mode = MODE_3D;
+	    mask |= MODE_SET;
+        } else if (MODE_2D >= session->gpsdata.fix.mode) {
+            /* we have at least a 2D fix */
+            /* might cause blinking */
 	    session->newdata.mode = MODE_2D;
 	    mask |= MODE_SET;
 	}
@@ -355,12 +367,12 @@ static gps_mask_t processGLL(int count, char *field[],
      * 5 UTC of position
      * 6 A=Active, V=Void
      * 7 Mode Indicator
-     * A = Autonomous mode
-     * D = Differential Mode
-     * E = Estimated (dead-reckoning) mode
-     * M = Manual Input Mode
-     * S = Simulated Mode
-     * N = Data Not Valid
+     *   A = Autonomous mode
+     *   D = Differential Mode
+     *   E = Estimated (dead-reckoning) mode
+     *   M = Manual Input Mode
+     *   S = Simulated Mode
+     *   N = Data Not Valid
      *
      * I found a note at <http://www.secoh.ru/windows/gps/nmfqexep.txt>
      * indicating that the Garmin 65 does not return time and status.
@@ -368,8 +380,9 @@ static gps_mask_t processGLL(int count, char *field[],
      * This code copes gracefully with both quirks.
      *
      * Unless you care about the FAA indicator, this sentence supplies nothing
-     * that GPRMC doesn't already.  But at least one Garmin GPS -- the 48
-     * actually ships updates in GLL that aren't redundant.
+     * that GPRMC doesn't already.  But at least two (Garmin GPS 48 and
+     * Magellan Triton 400) actually ship updates in GLL that aren't redundant.
+     *
      */
     char *status = field[7];
     gps_mask_t mask = 0;
@@ -394,6 +407,10 @@ static gps_mask_t processGLL(int count, char *field[],
 	newstatus = STATUS_FIX;
 	if (count >= 8 ) {
 	    switch ( *status ) {
+	    case 'A':   /* Autonomous */
+	    default:
+		newstatus = STATUS_FIX;
+		break;
 	    case 'D':	/* differential */
 		newstatus = STATUS_DGPS_FIX;	/* differential */
 		break;
@@ -403,26 +420,37 @@ static gps_mask_t processGLL(int count, char *field[],
 	    case 'F':	/* float RTK */
 		newstatus = STATUS_RTK_FLT;
 		break;
+	    case 'N':	/* Data Not Valid */
+                /* already handled, for paranoia sake also here */
+		newstatus = STATUS_NO_FIX;
+		break;
+	    case 'P':	/* Precise (NMEA 4+) */
+		newstatus = STATUS_DGPS_FIX;	/* sort of DGPS */
+		break;
 	    case 'R':	/* fixed RTK */
 		newstatus = STATUS_RTK_FIX;
 		break;
 	    case 'S':	/* simulator */
-		newstatus = STATUS_NO_FIX;
-		break;
-	    case 'A':
-	    default:
-		newstatus = STATUS_FIX;
+		newstatus = STATUS_NO_FIX;      /* or maybe MODE_FIX? */
 		break;
 	    }
         }
 	/*
-	 * This is a bit dodgy.  Technically we shouldn't set the mode
-	 * bit until we see GSA.  But it may be later in the cycle,
-	 * some devices like the FV-18 don't send it by default, and
-	 * elsewhere in the code we want to be able to test for the
-	 * presence of a valid fix with mode > MODE_NO_FIX.
+         * This is a bit dodgy.  Technically we shouldn't set the mode
+         * bit until we see GSA, or similar.  But it may be later in the
+         * cycle, some devices like the FV-18 don't send it by default,
+         * and elsewhere in the code we want to be able to test for the
+         * presence of a valid fix with mode > MODE_NO_FIX.
 	 */
-	if (session->newdata.mode < MODE_2D) {
+	if (0 != isfinite(session->gpsdata.fix.altitude)) {
+	    session->newdata.mode = MODE_3D;
+	    mask |= MODE_SET;
+	} else if (3 < session->gpsdata.satellites_used) {
+            /* 4 sats used means 3D */
+	    session->newdata.mode = MODE_3D;
+	    mask |= MODE_SET;
+	} else if (MODE_2D > session->gpsdata.fix.mode ||
+	    0 == isfinite(session->oldfix.altitude)) {
 	    session->newdata.mode = MODE_2D;
 	    mask |= MODE_SET;
 	}
@@ -449,10 +477,16 @@ static gps_mask_t processGGA(int c UNUSED, char *field[],
      * 1     123519       Fix taken at 12:35:19 UTC
      * 2,3   4807.038,N   Latitude 48 deg 07.038' N
      * 4,5   01131.324,E  Longitude 11 deg 31.324' E
-     * 6     1            Fix quality: 0 = invalid, 1 = GPS, 2 = DGPS,
-     *                    3=PPS (Precise Position Service),
-     *                    4=RTK (Real Time Kinematic) with fixed integers,
-     *                    5=Float RTK, 6=Estimated, 7=Manual, 8=Simulator
+     * 6     1            Fix quality:
+     *                     0 = invalid,
+     *                     1 = GPS,
+     *                     2 = DGPS,
+     *                     3 = PPS (Precise Position Service),
+     *                     4 = RTK (Real Time Kinematic) with fixed integers,
+     *                     5 = Float RTK,
+     *                     6 = Estimated,
+     *                     7 = Manual,
+     *                     8 = Simulator
      * 7     08           Number of satellites in use
      * 8     0.9          Horizontal dilution of position
      * 9,10  545.4,M      Altitude, Metres above mean sea level
@@ -471,6 +505,7 @@ static gps_mask_t processGGA(int c UNUSED, char *field[],
     char last_last_gga_talker = session->nmea.last_gga_talker;
     int fix;
     char *altitude = field[9];
+    int satellites_visible;
     session->nmea.last_gga_talker = field[0][1];
 
     if (0 == strlen(field[6])) {
@@ -544,10 +579,18 @@ static gps_mask_t processGGA(int c UNUSED, char *field[],
         gpsd_log(&session->context->errout, LOG_PROG,
                  "xxGSA: latch mode\n");
     } else
-	(void)strlcpy(session->nmea.last_gga_timestamp,
-		       field[1],
-		       sizeof(session->nmea.last_gga_timestamp));
-    /* if we have a fix and the mode latch is off, go... */
+	(void)strlcpy(session->nmea.last_gga_timestamp, field[1],
+		      sizeof(session->nmea.last_gga_timestamp));
+
+    /* satellites_visible is used as an accumulator in xxGSV
+     * so if we set it here we break xxGSV
+     * Some GPS, like SiRFstarV NMEA, report per GNSS used
+     * counts in GPGGA and GLGGA.
+     * session->gpsdata.satellites_visible = atoi(field[7]);
+     */
+    satellites_visible = atoi(field[7]);
+    /* May be able to say MODE_2D if satellites_visible is 3
+     * if we have a fix and the mode latch is off, go... */
     if (session->gpsdata.status > STATUS_NO_FIX) {
 
 	merge_hhmmss(field[1], session);
@@ -565,23 +608,12 @@ static gps_mask_t processGGA(int c UNUSED, char *field[],
 	if (field[8][0] != '\0')
 	    session->gpsdata.dop.hdop = safe_atof(field[8]);
 
-	/* satellites_visible is used as an accumulator in xxGSV
-	 * so if we set it here we break xxGSV
-         * Some GPS, like SiRFstarV NMEA, report per GNSS used
-         * counts in GPGGA and GLGGA.
-	 * session->gpsdata.satellites_visible = atoi(field[7]);
-	 */
 	/*
 	 * SiRF chipsets up to version 2.2 report a null altitude field.
 	 * See <http://www.sirf.com/Downloads/Technical/apnt0033.pdf>.
 	 * If we see this, force mode to 2D at most.
 	 */
-	if (altitude[0] == '\0') {
-	    if (session->newdata.mode > MODE_2D) {
-		session->newdata.mode = MODE_2D;
-                mask |= MODE_SET;
-	    }
-	} else {
+	if ('\0' != altitude[0]) {
 	    session->newdata.altitude = safe_atof(altitude);
 	    mask |= ALTITUDE_SET;
 	    /*
@@ -590,8 +622,10 @@ static gps_mask_t processGGA(int c UNUSED, char *field[],
 	     * some devices like the FV-18 don't send it by default, and
 	     * elsewhere in the code we want to be able to test for the
 	     * presence of a valid fix with mode > MODE_NO_FIX.
+             *
+             * Use satellites_visible as double check on MODE_3D
 	     */
-	    if (session->newdata.mode < MODE_3D) {
+	    if (4 <= satellites_visible) {
 		session->newdata.mode = MODE_3D;
 		mask |= MODE_SET;
 	    }
@@ -771,9 +805,12 @@ static gps_mask_t processGSA(int count, char *field[],
      * eg1. $GPGSA,A,3,,,,,,16,18,,22,24,,,3.6,2.1,2.2*3C
      * eg2. $GPGSA,A,3,19,28,14,18,27,22,31,39,,,,,1.7,1.0,1.3*35
      * 1    = Mode:
-     * M=Manual, forced to operate in 2D or 3D
-     * A=Automatic, 3D/2D
-     * 2    = Mode: 1=Fix not available, 2=2D, 3=3D
+     *         M=Manual, forced to operate in 2D or 3D
+     *         A=Automatic, 3D/2D
+     * 2    = Mode:
+     *         1=Fix not available,
+     *         2=2D,
+     *         3=3D
      * 3-14 = PRNs of satellites used in position fix (null for unused fields)
      * 15   = PDOP
      * 16   = HDOP
@@ -828,7 +865,7 @@ static gps_mask_t processGSA(int count, char *field[],
 	 * fixes from an Antaris chipset. which returns E in field 2
 	 * for a dead-reckoning estimate.  Fix by Andreas Stricker.
 	 */
-	if (session->newdata.mode == 0 && field[2][0] == 'E')
+	if ('E' == field[2][0])
 	    mask = 0;
 	else
 	    mask = MODE_SET;
@@ -1108,9 +1145,9 @@ static gps_mask_t processGSV(int count, char *field[],
 #undef GSV_TALKER
 }
 
+/* Garmin Estimated Position Error */
 static gps_mask_t processPGRME(int c UNUSED, char *field[],
 			       struct gps_device_t *session)
-/* Garmin Estimated Position Error */
 {
     /*
      * $PGRME,15.0,M,45.0,M,25.0,M*22
@@ -1153,6 +1190,97 @@ static gps_mask_t processPGRME(int c UNUSED, char *field[],
     return mask;
 }
 
+/* Garmin Altitude Information */
+static gps_mask_t processPGRMZ(int c UNUSED, char *field[],
+			       struct gps_device_t *session)
+{
+    /*
+     * $PGRMZ,246,f,3*1B
+     * 1    = Altitude
+     * 2    = f (feet)
+     * 3    = Mode
+     *         1 = No Fix
+     *         2 = 2D Fix
+     *         3 = 3D Fix
+     *
+     * From: Garmin Proprietary NMEA 0183 Sentences
+     *       technical Specifications
+     *       190-00684-00, Revision C December 2008
+     */
+    gps_mask_t mask = 0;
+
+    if ('f' == field[2][0] &&
+        0 < strlen(field[1])) {
+        /* have a GPS altitude, must be 3D */
+	session->newdata.altitude = atoi(field[1]) / METERS_TO_FEET;
+	mask |= (ALTITUDE_SET);
+    }
+    switch (field[3][0]) {
+    default:
+        /* WTF? */
+        break;
+    case '1':
+	session->newdata.mode = MODE_NO_FIX;
+	mask |= MODE_SET;
+        break;
+    case '2':
+	session->newdata.mode = MODE_2D;
+	mask |= MODE_SET;
+        break;
+    case '3':
+	session->newdata.mode = MODE_3D;
+	mask |= MODE_SET;
+        break;
+    }
+
+    gpsd_log(&session->context->errout, LOG_DATA,
+	     "PGRMZ: Altitude %.2f mode %d\n",
+	     session->newdata.altitude,
+	     session->newdata.mode);
+    return mask;
+}
+
+/* Magellan Status */
+static gps_mask_t processPMGNST(int c UNUSED, char *field[],
+			        struct gps_device_t *session)
+{
+    /*
+     * $PMGNST,01.75,3,T,816,11.1,-00496,00*43
+     * 1 = Firmware version number
+     * 2 = Mode (1 = no fix, 2 = 2D fix, 3 = 3D fix)
+     * 3 = T if we have a fix
+     * 4 = battery percentage left in tenths of a percent
+     * 5 = time left on the GPS battery in hours
+     * 6 = numbers change (freq. compensation?)
+     * 7 = PRN number receiving current focus
+     */
+    gps_mask_t mask;
+    int newmode = atoi(field[3]);
+
+    if ('T' == field[4][0]) {
+	switch(newmode) {
+	default:
+	    session->newdata.mode = MODE_NO_FIX;
+	    break;
+	case 2:
+	    session->newdata.mode = MODE_2D;
+	    break;
+	case 3:
+	    session->newdata.mode = MODE_3D;
+	    break;
+	}
+    } else {
+        /* Can report 3D fix, but 'F' for no fix */
+	session->newdata.mode = MODE_NO_FIX;
+    }
+    mask |= MODE_SET;
+
+    gpsd_log(&session->context->errout, LOG_DATA,
+	     "PMGNST: mode: %d\n",
+	     session->newdata.mode);
+    return mask;
+}
+
 static gps_mask_t processGBS(int c UNUSED, char *field[],
 			       struct gps_device_t *session)
 /* NMEA 3.0 Estimated Position Error */
@@ -1306,6 +1434,7 @@ static gps_mask_t processDBT(int c UNUSED, char *field[],
     gps_mask_t mask;
     mask = ONLINE_SET;
 
+    /* this is criminal.  Depth != altitude */
     if (field[3][0] != '\0') {
 	session->newdata.altitude = -safe_atof(field[3]);
 	mask |= (ALTITUDE_SET);
@@ -1576,28 +1705,50 @@ static gps_mask_t processPASHR(int c UNUSED, char *field[],
     gps_mask_t mask;
     mask = 0;
 
-    if (0 == strcmp("RID", field[1])) {	/* Receiver ID */
-	(void)snprintf(session->subtype, sizeof(session->subtype) - 1,
-		       "%s ver %s", field[2], field[3]);
-	gpsd_log(&session->context->errout, LOG_DATA,
-		 "PASHR,RID: subtype=%s mask={}\n",
-		 session->subtype);
-	return mask;
+    if (0 == strcmp("ACK", field[1])) {
+        /* ACK */
+	gpsd_log(&session->context->errout, LOG_DATA, "PASHR,ACK\n");
+	return ONLINE_SET;
+    } else if (0 == strcmp("MCA", field[1])) {
+        /* MCA, raw data */
+	gpsd_log(&session->context->errout, LOG_DATA, "PASHR,MCA\n");
+	return ONLINE_SET;
+    } else if (0 == strcmp("NAK", field[1])) {
+        /* NAK */
+	gpsd_log(&session->context->errout, LOG_DATA, "PASHR,NAK\n");
+	return ONLINE_SET;
+    } else if (0 == strcmp("PBN", field[1])) {
+        /* PBN, position data */
+        /* FIXME: decode this for ECEF */
+	gpsd_log(&session->context->errout, LOG_DATA, "PASHR,PBN\n");
+	return ONLINE_SET;
     } else if (0 == strcmp("POS", field[1])) {	/* 3D Position */
+	/* $PASHR,POS,
+         *
+	 * 2: position type:
+	 *	0 = autonomous
+	 *	1 = position differentially corrected with RTCM code
+	 *	2 = position differentially corrected with CPD float solution
+	 *	3 = position is CPD fixed solution
+	 */
 	mask |= MODE_SET | STATUS_SET | CLEAR_IS;
 	if (0 == strlen(field[2])) {
 	    /* empty first field means no 3D fix is available */
 	    session->gpsdata.status = STATUS_NO_FIX;
 	    session->newdata.mode = MODE_NO_FIX;
 	} else {
+            int satellites_used;
+
 	    /* if we make it this far, we at least have a 3D fix */
 	    session->newdata.mode = MODE_3D;
-	    if (1 == atoi(field[2]))
+	    if (1 <= atoi(field[2]))
 		session->gpsdata.status = STATUS_DGPS_FIX;
 	    else
 		session->gpsdata.status = STATUS_FIX;
 
-	    session->gpsdata.satellites_used = atoi(field[3]);
+	    /* don't use as this breaks the GPGSV counter
+             * session->gpsdata.satellites_used = atoi(field[3]);  */
+	    satellites_used = atoi(field[3]);
 	    merge_hhmmss(field[4], session);
 	    register_fractional_time(field[0], field[4], session);
 	    do_lat_lon(&field[5], &session->newdata);
@@ -1615,15 +1766,22 @@ static gps_mask_t processPASHR(int c UNUSED, char *field[],
 	    gpsd_log(&session->context->errout, LOG_DATA,
 		     "PASHR,POS: hhmmss=%s lat=%.2f lon=%.2f alt=%.f"
                      " speed=%.2f track=%.2f climb=%.2f mode=%d status=%d"
-                     " pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f\n",
+                     " pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f used=%d\n",
 		     field[4], session->newdata.latitude,
 		     session->newdata.longitude, session->newdata.altitude,
 		     session->newdata.speed, session->newdata.track,
 		     session->newdata.climb, session->newdata.mode,
 		     session->gpsdata.status, session->gpsdata.dop.pdop,
 		     session->gpsdata.dop.hdop, session->gpsdata.dop.vdop,
-		     session->gpsdata.dop.tdop);
+		     session->gpsdata.dop.tdop, satellites_used);
 	}
+    } else if (0 == strcmp("RID", field[1])) {	/* Receiver ID */
+	(void)snprintf(session->subtype, sizeof(session->subtype) - 1,
+		       "%s ver %s", field[2], field[3]);
+	gpsd_log(&session->context->errout, LOG_DATA,
+		 "PASHR,RID: subtype=%s mask={}\n",
+		 session->subtype);
+	return mask;
     } else if (0 == strcmp("SAT", field[1])) {	/* Satellite Status */
 	struct satellite_t *sp;
 	int i, n = session->gpsdata.satellites_visible = atoi(field[2]);
@@ -1839,7 +1997,6 @@ static gps_mask_t processPSTI030(int count, char *field[],
 	mask |= STATUS_SET;
 	/* RTK Age and RTK Ratio, for now */
     }
-    // else WTF?
 
     gpsd_log(&session->context->errout, LOG_DATA,
 	     "PSTI,030: ddmmyy=%s hhmmss=%s lat=%.2f lon=%.2f "
@@ -1858,7 +2015,7 @@ static gps_mask_t processPSTI030(int count, char *field[],
  * type is a 2 or 3 digit subsentence type
  *
  * Note: this sentence can be at least 100 chars long.
- * That violates the NMEA max of 82.
+ * That violates the NMEA 3.01 max of 82.
  *
  */
 static gps_mask_t processPSTI(int count, char *field[],
@@ -1870,7 +2027,7 @@ static gps_mask_t processPSTI(int count, char *field[],
     mask = ONLINE_SET;
 
     if ( 0 != strncmp(session->subtype, "Skytraq", 7) ) {
-	/* this is skytraq, but marked yet, so probe for Skytraq */
+	/* this is skytraq, but not marked yet, so probe for Skytraq */
 	(void)gpsd_write(session, "\xA0\xA1\x00\x02\x02\x01\x03\x0d\x0a",9);
     }
 
@@ -1977,10 +2134,17 @@ gps_mask_t nmea_parse(char *sentence, struct gps_device_t * session)
 	bool cycle_continue;	/* cycle continuer? */
 	nmea_decoder decoder;
     } nmea_phrase[] = {
+	{"PGRMB", 0, false, NULL},	/* ignore Garmin DGPS Beacon Info */
 	{"PGRMC", 0, false, NULL},	/* ignore Garmin Sensor Config */
 	{"PGRME", 7, false, processPGRME},
+	{"PGRMF", 0, false, NULL},	/* ignore Garmin GPS Fix Data */
+	{"PGRMH", 0, false, NULL},	/* ignore Garmin Aviation Height... */
 	{"PGRMI", 0, false, NULL},	/* ignore Garmin Sensor Init */
+	{"PGRMM", 0, false, NULL},	/* ignore Garmin Map Datum */
 	{"PGRMO", 0, false, NULL},	/* ignore Garmin Sentence Enable */
+	{"PGRMT", 0, false, NULL},	/* ignore Garmin Sensor Info */
+	{"PGRMV", 0, false, NULL},	/* ignore Garmin 3D Velocity Info */
+	{"PGRMZ", 4, false, processPGRMZ},
 	    /*
 	     * Basic sentences must come after the PG* ones, otherwise
 	     * Garmins can get stuck in a loop that looks like this:
@@ -2012,13 +2176,19 @@ gps_mask_t nmea_parse(char *sentence, struct gps_device_t * session)
         /* general handler for Ashtech */
 	{"PASHR", 3, false, processPASHR},
 #endif /* ASHTECH_ENABLE */
+	{"PMGNST", 8, false, processPMGNST},	/* Magellan Status */
 #ifdef MTK3301_ENABLE
 	{"PMTK", 3,  false, processMTK3301},
-        /* for some reason thhe parser no longer triggering on leading chars */
+        /* for some reason the parser no longer triggering on leading chars */
 	{"PMTK001", 3,  false, processMTK3301},
 	{"PMTK424", 3,  false, processMTK3301},
 	{"PMTK705", 3,  false, processMTK3301},
+	{"PMTKCHN", 0, false, NULL},	/* ignore MediaTek Channel Status */
 #endif /* MTK3301_ENABLE */
+	{"PRWIZCH", 0, false, NULL},	/* ignore Rockwell Channel Status */
+	{"PSRFEPE", 0, false, NULL},	/* ignore SiRF Estimated Errors */
+	{"PTFTTXT", 0, false, NULL},	/* ignore unknown uptime */
+	{"PUBX", 0, false, NULL},	/* ignore u-blox Antaris */
 #ifdef TNT_ENABLE
 	{"PTNTHTM", 9, false, processTNTHTM},
 	{"PTNTA", 8, false, processTNTA},
@@ -2232,6 +2402,14 @@ gps_mask_t nmea_parse(char *sentence, struct gps_device_t * session)
     if (session->nmea.cycle_enders != 0)
 	session->cycle_end_reliable = true;
 
+    /* don't downgrade mode if holding previous fix */
+    /* usually because of xxRMC which does not report 2D/3D */
+    if (MODE_SET == (retval & MODE_SET) &&
+        MODE_3D == session->gpsdata.fix.mode &&
+        (0 != isfinite(session->lastfix.altitude) ||
+         0 != isfinite(session->oldfix.altitude))) {
+        session->newdata.mode = session->gpsdata.fix.mode;
+    }
     return retval;
 }
 
diff --git a/driver_sirf.c b/driver_sirf.c
index e6230a25..07dd195a 100644
--- a/driver_sirf.c
+++ b/driver_sirf.c
@@ -514,7 +514,8 @@ static gps_mask_t sirf_msg_navnot(struct gps_device_t *session,
     case 1:
         /* last message sent every cycle */
         definition = "SID_GPS_SIRFNAV_COMPLETE";
-        mask = CLEAR_IS | REPORT_IS;
+        /* so push a report now */
+        mask = REPORT_IS;
         break;
     case 2:
         definition = "SID_GPS_SIRFNAV_TIMING";
diff --git a/gpsd.h b/gpsd.h
index cdf3c71b..ff54dfa9 100644
--- a/gpsd.h
+++ b/gpsd.h
@@ -54,6 +54,7 @@ extern "C" {
  *      time added to ATT
  * 3.14 Added RAW message class.
  *      Add cfg_stage and cfg_step, for initialization
+ *      Add oldfix2 for better oldfix
  */
 /* Keep in sync with api_major_version and api_minor gps/__init__.py */
 #define GPSD_PROTO_MAJOR_VERSION	3   /* bump on incompatible changes */
@@ -546,6 +547,7 @@ struct gps_device_t {
     bool cycle_end_reliable;		/* does driver signal REPORT_MASK */
     int fixcnt;				/* count of fixes from this device */
     struct gps_fix_t newdata;		/* where drivers put their data */
+    struct gps_fix_t lastfix;		/* not qute yet ready for oldfix */
     struct gps_fix_t oldfix;		/* previous fix for error modeling */
 #ifdef NMEA0183_ENABLE
     struct {
diff --git a/gpsd_json.c b/gpsd_json.c
index 41f42cc9..0bb42705 100644
--- a/gpsd_json.c
+++ b/gpsd_json.c
@@ -184,7 +184,7 @@ void json_tpv_dump(const struct gps_device_t *session,
 	if (isfinite(gpsdata->fix.longitude) != 0)
 	    str_appendf(reply, replylen,
 			   "\"lon\":%.9f,", gpsdata->fix.longitude);
-	if (gpsdata->fix.mode >= MODE_3D && isfinite(gpsdata->fix.altitude) != 0)
+	if (0 != isfinite(gpsdata->fix.altitude))
 	    str_appendf(reply, replylen,
 			   "\"alt\":%.3f,", gpsdata->fix.altitude);
 	if (isfinite(gpsdata->fix.epx) != 0)
diff --git a/libgpsd_core.c b/libgpsd_core.c
index 8d503e91..59bd622e 100644
--- a/libgpsd_core.c
+++ b/libgpsd_core.c
@@ -335,6 +335,7 @@ void gpsd_init(struct gps_device_t *session, struct gps_context_t *context,
 #endif /* NMEA0183_ENABLE */
     gps_clear_fix(&session->gpsdata.fix);
     gps_clear_fix(&session->newdata);
+    gps_clear_fix(&session->lastfix);
     gps_clear_fix(&session->oldfix);
     session->gpsdata.set = 0;
     gps_clear_att(&session->gpsdata.attitude);
@@ -877,17 +878,22 @@ static gps_mask_t fill_dop(const struct gpsd_errout_t *errout,
     return DOP_SET;
 }
 
-static void gpsd_error_model(struct gps_device_t *session,
-			     struct gps_fix_t *fix, struct gps_fix_t *oldfix)
 /* compute errors and derived quantities */
+static void gpsd_error_model(struct gps_device_t *session)
 {
+    struct gps_fix_t *fix;           /* current fix */
+    struct gps_fix_t *lastfix;       /* last fix, maybe same time stamp */
+    struct gps_fix_t *oldfix;        /* old fix, previsou time stamp */
+    timestamp_t deltatime = -1.0;    /* time span to compute rates */
+
     /*
      * Now we compute derived quantities.  This is where the tricky error-
      * modeling stuff goes. Presently we don't know how to derive
      * time error.
      *
      * Some drivers set the position-error fields.  Only the Zodiacs
-     * report speed error.  Nobody reports track error or climb error.
+     * report speed error.  No NMEA 183 reports climb error. GPXTE
+     * and PSRFEPE can report track error, but are rare.
      *
      * The UERE constants are our assumption about the base error of
      * GPS fixes in different directions.
@@ -903,6 +909,22 @@ static void gpsd_error_model(struct gps_device_t *session,
     if (NULL == session)
 	return;
 
+    fix = &session->gpsdata.fix;
+    lastfix = &session->lastfix;
+    oldfix = &session->oldfix;
+
+    if (0 != isfinite(fix->time)) {
+        if (0 != isfinite(lastfix->time) &&
+            fix->time > lastfix->time) {
+	    /* time just moved forward, lastfix is now the previous (old) fix */
+	    *oldfix = *lastfix;
+        }
+        if (0 != isfinite(oldfix->time) &&
+            fix->time > oldfix->time) {
+	    deltatime = fix->time - oldfix->time;
+        }
+    }
+
     h_uere =
 	(session->gpsdata.status ==
 	 STATUS_DGPS_FIX ? H_UERE_WITH_DGPS : H_UERE_NO_DGPS);
@@ -913,42 +935,56 @@ static void gpsd_error_model(struct gps_device_t *session,
 	(session->gpsdata.status ==
 	 STATUS_DGPS_FIX ? P_UERE_WITH_DGPS : P_UERE_NO_DGPS);
 
-    /* sanity check the speed, 10,000 m/s should be a nice max */
-    if ( 9999.9 < fix->speed )
-	fix->speed = NAN;
-    else if ( -9999.9 > fix->speed )
+    /* If you are in a rocket, and your GPS is ITAR unlocked, then
+     * triple check these sanity checks.
+     *
+     * u-blox 8: Max altitude: 50,000m
+     *           Max horizontal speed: 250 m/s
+     *           Max climb: 100 m/s
+     *
+     * u-blox ZED-F9P: Max Velocity: 500 m/s
+     */
+
+    /* sanity check the speed, 10,000 m/s should be a nice max
+     * Low Earth Orbit (LEO) is about 7,800 m/s */
+    if (9999.9 < fabs(fix->speed))
 	fix->speed = NAN;
 
     /* sanity check the climb, 10,000 m/s should be a nice max */
-    if ( 9999.9 < fix->climb )
-	fix->climb = NAN;
-    else if ( -9999.9 > fix->climb )
+    if (9999.9 < fabs(fix->climb))
 	fix->climb = NAN;
 
-
     /*
      * OK, this is not an error computation, but we're at the right
      * place in the architecture for it.  Compute speed over ground
      * and climb/sink in the simplest possible way.
      */
-    if (fix->mode >= MODE_2D && oldfix->mode >= MODE_2D
-	&& isfinite(fix->speed) == 0) {
-	if (fix->time == oldfix->time)
-	    fix->speed = 0;
-	else
-	    fix->speed =
-		earth_distance(fix->latitude, fix->longitude,
-			       oldfix->latitude, oldfix->longitude)
-		/ (fix->time - oldfix->time);
-    }
-    if (fix->mode >= MODE_3D && oldfix->mode >= MODE_3D
-	&& isfinite(fix->climb) == 0) {
-	if (fix->time == oldfix->time)
-	    fix->climb = 0;
-	else if ((isfinite(fix->altitude) != 0 &&
-	         isfinite(oldfix->altitude) != 0)) {
-	    fix->climb = ((fix->altitude - oldfix->altitude) /
-	                  (fix->time - oldfix->time));
+    if (0 < deltatime) {
+        /* have a valid time duration */
+
+	if (MODE_2D <= fix->mode &&
+	    MODE_2D <= oldfix->mode) {
+
+	    if (0 == isfinite(fix->speed)) {
+		fix->speed = earth_distance(fix->latitude, fix->longitude,
+				            oldfix->latitude, oldfix->longitude)
+		                            / deltatime;
+                /* sanity check */
+		if (9999.9 < fabs(fix->speed))
+		    fix->speed = NAN;
+	    }
+
+	    if (MODE_3D <= fix->mode &&
+		MODE_3D <= oldfix->mode &&
+		0 == isfinite(fix->climb) &&
+		0 != isfinite(fix->altitude) &&
+		0 != isfinite(oldfix->altitude)) {
+		    fix->climb = (fix->altitude - oldfix->altitude) / deltatime;
+
+		    /* sanity check the climb */
+		    if (9999.9 < fabs(fix->climb))
+			fix->climb = NAN;
+	    }
 	}
     }
 
@@ -992,26 +1028,29 @@ static void gpsd_error_model(struct gps_device_t *session,
 	 * didn't set the speed error and climb error members itself,
 	 * try to compute them now.
 	 */
-	if (isfinite(fix->eps) == 0) {
-	    if (oldfix->mode > MODE_NO_FIX && fix->mode > MODE_NO_FIX
-		&& isfinite(oldfix->epx) != 0 && isfinite(oldfix->epy) != 0
-		&& isfinite(oldfix->time) != 0 && isfinite(fix->time) != 0
-		&& fix->time > oldfix->time) {
-		timestamp_t t = fix->time - oldfix->time;
-		double e =
-		    EMIX(oldfix->epx, oldfix->epy) + EMIX(fix->epx, fix->epy);
-		fix->eps = e / t;
+	if (0 == isfinite(fix->eps)) {
+            if (0 < deltatime &&
+	        MODE_2D <= oldfix->mode &&
+                MODE_2D <= fix->mode &&
+		0 != isfinite(oldfix->epx) &&
+                0 != isfinite(oldfix->epy)) {
+		fix->eps = (EMIX(oldfix->epx, oldfix->epy) +
+                            EMIX(fix->epx, fix->epy)) / deltatime;
 	    } else
 		fix->eps = NAN;
 	}
-	if ((fix->mode >= MODE_3D)
-	    && isfinite(fix->epc) == 0 && fix->time > oldfix->time) {
-	    if (oldfix->mode >= MODE_3D && fix->mode >= MODE_3D) {
-		timestamp_t t = fix->time - oldfix->time;
-		double e = oldfix->epv + fix->epv;
+
+	if (0 < deltatime && MODE_3D <= fix->mode) {
+	    if (0 == isfinite(fix->epc) &&
+	        oldfix->mode >= MODE_3D) {
+                /* Is this really valid? */
 		/* if vertical uncertainties are zero this will be too */
-		fix->epc = e / t;
+                /* luckily this propogates NAN */
+		fix->epc = (oldfix->epv + fix->epv) / deltatime;
 	    }
+        }
+
+	if (0 < deltatime && MODE_2D <= fix->mode) {
 	    /*
 	     * We compute a track error estimate solely from the
 	     * position of this fix and the last one.  The maximum
@@ -1028,23 +1067,20 @@ static void gpsd_error_model(struct gps_device_t *session,
 	     * garbage, throw back NaN if the distance from the previous
 	     * fix is less than the error estimate.
 	     */
-	    fix->epd = NAN;
-	    if (oldfix->mode >= MODE_2D) {
-		double adj =
-		    earth_distance(oldfix->latitude, oldfix->longitude,
-				   fix->latitude, fix->longitude);
-		if (isfinite(adj) != 0 && adj > EMIX(fix->epx, fix->epy)) {
-		    double opp = EMIX(fix->epx, fix->epy);
-		    double hyp = sqrt(adj * adj + opp * opp);
-		    fix->epd = RAD_2_DEG * 2 * asin(opp / hyp);
-		}
+	    double adj = earth_distance(oldfix->latitude, oldfix->longitude,
+			                fix->latitude, fix->longitude);
+	    if (isfinite(adj) != 0 && adj > EMIX(fix->epx, fix->epy)) {
+		double opp = EMIX(fix->epx, fix->epy);
+		double hyp = sqrt(adj * adj + opp * opp);
+		fix->epd = RAD_2_DEG * 2 * asin(opp / hyp);
 	    }
 	}
     }
 
-    /* save old fix for later error computations */
-    if (fix->mode >= MODE_2D)
-	*oldfix = *fix;
+    if (0 != isfinite(fix->time)) {
+	/* save lastfix, not yet oldfix, for later error computations */
+	*lastfix = *fix;
+    }
 }
 #endif /* NOFLOATS_ENABLE */
 
@@ -1405,6 +1441,7 @@ gps_mask_t gpsd_poll(struct gps_device_t *session)
 		     session->lexer.outbuflen,
 		     gpsd_prettydump(session));
 
+
 	/* Get data from current packet into the fix structure */
 	if (session->lexer.type != COMMENT_PACKET)
 	    if (session->device_type != NULL
@@ -1457,22 +1494,21 @@ gps_mask_t gpsd_poll(struct gps_device_t *session)
 
 	/* copy/merge device data into staging buffers */
 	if ((session->gpsdata.set & CLEAR_IS) != 0) {
+            /* CLEAR_IS should only be set on first sentence of cycle */
 	    gps_clear_fix(&session->gpsdata.fix);
             gps_clear_att(&session->gpsdata.attitude);
         }
-	/* don't downgrade mode if holding previous fix */
-	if (session->gpsdata.fix.mode > session->newdata.mode)
-	    session->gpsdata.set &= ~MODE_SET;
+
 	/* gpsd_log(&session->context->errout, LOG_PROG,
 	                 "transfer mask: %s\n",
                          gps_maskdump(session->gpsdata.set)); */
 	gps_merge_fix(&session->gpsdata.fix,
 		      session->gpsdata.set, &session->newdata);
+
 #ifndef NOFLOATS_ENABLE
-	gpsd_error_model(session, &session->gpsdata.fix, &session->oldfix);
+	gpsd_error_model(session);
 #endif /* NOFLOATS_ENABLE */
 
-
 	/*
 	 * Count good fixes. We used to check
 	 *      session->gpsdata.status > STATUS_NO_FIX
diff --git a/test/daemon/ac12.log.chk b/test/daemon/ac12.log.chk
index 1b0cb2ec..835deedf 100644
--- a/test/daemon/ac12.log.chk
+++ b/test/daemon/ac12.log.chk
@@ -16,7 +16,7 @@ $GPGSV,3,2,12,02,56,323,,04,41,024,,12,31,317,,17,31,085,*72
 $GPGSV,3,3,12,05,15,318,,24,02,246,,33,08,096,39,35,45,118,*77
 {"class":"SKY","xdop":0.76,"ydop":1.60,"vdop":3.00,"tdop":0.99,"hdop":1.70,"gdop":3.70,"pdop":3.40,"satellites":[{"PRN":28,"el":14,"az":150,"ss":40,"used":true,"gnssid":0,"svid":28},{"PRN":9,"el":15,"az":254,"ss":41,"used":true,"gnssid":0,"svid":9},{"PRN":10,"el":43,"az":192,"ss":47,"used":true,"gnssid":0,"svid":10},{"PRN":13,"el":6,"az":81,"ss":36,"used":true,"gnssid":0,"svid":13},{"PRN":2,"el":56,"az":323,"ss":0,"used":false,"gnssid":0,"svid":2},{"PRN":4,"el":41,"az":24,"ss":0,"used":false,"gnssid":0,"svid":4},{"PRN":12,"el":31,"az":317,"ss":0,"used":false,"gnssid":0,"svid":12},{"PRN":17,"el":31,"az":85,"ss":0,"used":false,"gnssid":0,"svid":17},{"PRN":5,"el":15,"az":318,"ss":0,"used":false,"gnssid":0,"svid":5},{"PRN":24,"el":2,"az":246,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":120,"el":8,"az":96,"ss":39,"used":false,"gnssid":1,"svid":120},{"PRN":122,"el":45,"az":118,"ss":0,"used":false,"gnssid":1,"svid":122}]}
 $GPRMC,193222.00,A,2037.7283,N,08704.0847,W,00.0,201.8,231207,01,W,A*25
-{"class":"TPV","mode":3,"time":"2007-12-23T19:32:22.000Z","ept":0.005,"lat":20.628805000,"lon":-87.068078333,"alt":-30.000,"epx":11.444,"epy":24.060,"epv":69.000,"track":201.8000,"speed":0.000,"climb":-0.400}
+{"class":"TPV","mode":3,"time":"2007-12-23T19:32:22.000Z","ept":0.005,"lat":20.628805000,"lon":-87.068078333,"alt":-30.000,"epx":11.444,"epy":24.060,"epv":69.000,"track":201.8000,"speed":0.000,"climb":0.400,"eps":48.12,"epc":138.00}
 $GPZDA,193224.00,23,12,2007,00,00*6E
 $GPGGA,193223.00,2037.72880,N,08704.08455,W,1,04,1.7,-29.55,M,-13.9,M,,*70
 $GPGSA,A,3,10,09,28,13,,,,,,,,,03.4,01.7,03.0*00
@@ -25,7 +25,7 @@ $GPGSV,3,2,12,02,56,323,,04,41,024,,12,31,317,,17,31,085,*72
 $GPGSV,3,3,12,05,15,318,,24,02,246,,33,08,096,,35,45,118,*7D
 {"class":"SKY","xdop":0.76,"ydop":1.60,"vdop":3.00,"tdop":0.99,"hdop":1.70,"gdop":3.70,"pdop":3.40,"satellites":[{"PRN":28,"el":14,"az":150,"ss":39,"used":true,"gnssid":0,"svid":28},{"PRN":9,"el":15,"az":254,"ss":41,"used":true,"gnssid":0,"svid":9},{"PRN":10,"el":43,"az":192,"ss":47,"used":true,"gnssid":0,"svid":10},{"PRN":13,"el":6,"az":81,"ss":36,"used":true,"gnssid":0,"svid":13},{"PRN":2,"el":56,"az":323,"ss":0,"used":false,"gnssid":0,"svid":2},{"PRN":4,"el":41,"az":24,"ss":0,"used":false,"gnssid":0,"svid":4},{"PRN":12,"el":31,"az":317,"ss":0,"used":false,"gnssid":0,"svid":12},{"PRN":17,"el":31,"az":85,"ss":0,"used":false,"gnssid":0,"svid":17},{"PRN":5,"el":15,"az":318,"ss":0,"used":false,"gnssid":0,"svid":5},{"PRN":24,"el":2,"az":246,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":120,"el":8,"az":96,"ss":0,"used":false,"gnssid":1,"svid":120},{"PRN":122,"el":45,"az":118,"ss":0,"used":false,"gnssid":1,"svid":122}]}
 $GPRMC,193223.00,A,2037.7288,N,08704.0846,W,00.1,201.8,231207,01,W,A*2F
-{"class":"TPV","mode":3,"time":"2007-12-23T19:32:23.000Z","ept":0.005,"lat":20.628813333,"lon":-87.068076667,"alt":-29.550,"epx":11.444,"epy":24.060,"epv":69.000,"track":201.8000,"speed":0.051,"climb":-0.450}
+{"class":"TPV","mode":3,"time":"2007-12-23T19:32:23.000Z","ept":0.005,"lat":20.628813333,"lon":-87.068076667,"alt":-29.550,"epx":11.444,"epy":24.060,"epv":69.000,"track":201.8000,"speed":0.051,"climb":0.450,"eps":48.12,"epc":138.00}
 $GPZDA,193225.00,23,12,2007,00,00*6F
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@@ -34,7 +34,7 @@ $GPGSV,3,2,12,02,56,323,,04,41,024,,12,31,317,,17,31,085,*72
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@@ -64,4 +64,4 @@ $GPGSV,4,3,13,05,16,318,,24,03,247,,30,00,323,,33,08,096,*76
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diff --git a/test/daemon/ac12_binary.log.chk b/test/daemon/ac12_binary.log.chk
index 7d2b7a9f..0e512b44 100644
--- a/test/daemon/ac12_binary.log.chk
+++ b/test/daemon/ac12_binary.log.chk
diff --git a/test/daemon/ait250.log.chk b/test/daemon/ait250.log.chk
index 7f5ec7a7..f3259873 100644
--- a/test/daemon/ait250.log.chk
+++ b/test/daemon/ait250.log.chk
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@@ -205,7 +205,7 @@ $GPRMC,194935.00,A,5241.99779,N,00517.56509,E,0.002,,010809,,,A*76
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@@ -215,19 +215,19 @@ $GPRMC,194936.00,A,5241.99789,N,00517.56508,E,0.014,,010809,,,A*7C
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@@ -238,7 +238,7 @@ $GPRMC,194939.00,A,5241.99809,N,00517.56539,E,0.009,,010809,,,A*7A
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diff --git a/test/daemon/blumax-gps009.log.chk b/test/daemon/blumax-gps009.log.chk
index faaa833f..348c79bd 100644
--- a/test/daemon/blumax-gps009.log.chk
+++ b/test/daemon/blumax-gps009.log.chk
@@ -51,33 +51,33 @@ $GPRMC,142819.299,A,5201.0809,N,00832.0852,E,0.87,249.59,180708,,,A*60
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diff --git a/test/daemon/bt451.log.chk b/test/daemon/bt451.log.chk
index 59ed66dc..f94ff129 100644
--- a/test/daemon/bt451.log.chk
+++ b/test/daemon/bt451.log.chk
@@ -43,7 +43,7 @@ $GPGSV,2,1,07,26,34,052,33,19,,,36,32,45,237,42,06,,,34*75
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diff --git a/test/daemon/bu353-glonass.log.chk b/test/daemon/bu353-glonass.log.chk
index 5e666592..c4e88998 100644
--- a/test/daemon/bu353-glonass.log.chk
+++ b/test/daemon/bu353-glonass.log.chk
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diff --git a/test/daemon/bundg_zeus_9.log.chk b/test/daemon/bundg_zeus_9.log.chk
index 05e6aad4..e8f2de19 100644
--- a/test/daemon/bundg_zeus_9.log.chk
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diff --git a/test/daemon/ch-4701.log.chk b/test/daemon/ch-4701.log.chk
index 664e773a..567f91c8 100644
--- a/test/daemon/ch-4701.log.chk
+++ b/test/daemon/ch-4701.log.chk
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@@ -19,7 +19,7 @@ $GPRMC,123437.000,A,5356.21443,N,02734.85944,E,00.00,252.7,290508,,,A*69
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@@ -33,27 +33,27 @@ $GPRMC,123439.000,A,5356.21445,N,02734.85942,E,00.00,252.7,290508,,,A*67
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diff --git a/test/daemon/ch-4711.log.chk b/test/daemon/ch-4711.log.chk
index 69190011..ec37ab2e 100644
--- a/test/daemon/ch-4711.log.chk
+++ b/test/daemon/ch-4711.log.chk
@@ -4,7 +4,9 @@ $GNRMC,135651.997,A,5543.0328,N,03724.7198,E,00.00,129.5,051209,,,A*79
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diff --git a/test/daemon/com-1289.log.chk b/test/daemon/com-1289.log.chk
index fd659e19..9a38f98a 100644
--- a/test/daemon/com-1289.log.chk
+++ b/test/daemon/com-1289.log.chk
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diff --git a/test/daemon/eXplorist210.log.chk b/test/daemon/eXplorist210.log.chk
index 98bc11ba..ef843e1e 100644
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@@ -26,7 +31,7 @@ $GPGGA,200619.30,5313.2228,N,00634.4228,E,1,05,2.6,00000,M,,,,*2C
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@@ -34,13 +39,13 @@ $GPGSV,3,3,10,14,09,319,,11,03,016,,136,27,157,,124,28,162,*71
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@@ -49,6 +54,6 @@ $GPGSV,3,3,10,14,09,319,,11,03,016,,136,27,157,,124,28,162,*71
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diff --git a/test/daemon/et-332.log.chk b/test/daemon/et-332.log.chk
index 12b0eef1..f7c3e05d 100644
--- a/test/daemon/et-332.log.chk
+++ b/test/daemon/et-332.log.chk
@@ -2,21 +2,21 @@ $GPZDA,153347.000,23,04,2010,,*57
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diff --git a/test/daemon/foretrex-201.log.chk b/test/daemon/foretrex-201.log.chk
index 2bf6203e..d2f74871 100644
--- a/test/daemon/foretrex-201.log.chk
+++ b/test/daemon/foretrex-201.log.chk
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@@ -112,7 +120,7 @@ $GPGSV,3,2,12,15,01,013,00,18,25,053,00,19,75,249,43,22,55,078,31*7B
 $GPGSV,3,3,12,24,83,092,00,28,17,327,00,33,23,211,42,37,26,166,42*74
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 $GPBOD,,T,,M,,*47
 $PGRME,19.9,M,50.0,M,53.8,M*14
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@@ -126,7 +134,7 @@ $GPGSV,3,2,12,15,01,013,00,18,25,053,00,19,75,249,43,22,55,078,31*7B
 $GPGSV,3,3,12,24,83,092,00,28,17,327,00,33,23,211,42,37,26,166,42*74
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 $PGRME,19.9,M,50.0,M,53.8,M*14
 $PGRMZ,-30,f,2*04
@@ -140,7 +148,7 @@ $GPGSV,3,2,12,15,01,013,00,18,25,053,00,19,75,249,43,22,55,078,31*7B
 $GPGSV,3,3,12,24,83,092,00,28,17,327,00,33,23,211,42,37,26,166,42*74
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diff --git a/test/daemon/garmin-10x.log.chk b/test/daemon/garmin-10x.log.chk
index 8e8f9013..7fe9c380 100644
--- a/test/daemon/garmin-10x.log.chk
+++ b/test/daemon/garmin-10x.log.chk
@@ -23,7 +23,7 @@ $GPGSV,3,2,10,20,38,248,17,13,16,310,,06,15,156,,29,15,048,15*78
 $GPGSV,3,3,10,03,08,171,,14,06,129,*7D
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 $GPGSV,3,1,10,16,74,173,09,23,42,310,07,31,40,066,13,32,39,218,07*73
@@ -60,23 +60,23 @@ $GPGSV,3,3,10,03,08,171,,14,06,129,*7D
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diff --git a/test/daemon/garmin-geko201.log.chk b/test/daemon/garmin-geko201.log.chk
index 7e330b6f..04509540 100644
--- a/test/daemon/garmin-geko201.log.chk
+++ b/test/daemon/garmin-geko201.log.chk
@@ -12,6 +12,7 @@ $GPGLL,4023.8600,N,00339.1630,W,214350,V,S*57
 $GPBOD,,T,,M,,*47
 $PGRME,15.0,M,22.5,M,27.0,M*1A
 $PGRMZ,2282,f,3*21
+{"class":"TPV","mode":3,"lat":40.397666667,"lon":-3.652716667,"alt":695.554,"epx":22.022,"epy":22.022,"epv":46.716}
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 $GPRMB,V,,,,,,,,,,,,A,S*0E
diff --git a/test/daemon/garmin17n.log.chk b/test/daemon/garmin17n.log.chk
index ad761113..6a8acff1 100644
--- a/test/daemon/garmin17n.log.chk
+++ b/test/daemon/garmin17n.log.chk
@@ -3,11 +3,11 @@ $GPRMC,093802,A,5213.1439,N,02100.6511,E,000.0,226.0,160305,004.2,E,D*15
 $GPGGA,093802,5213.1439,N,02100.6511,E,2,10,0.9,137.2,M,36.2,M,,*43
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 $PGRME,1.7,M,2.4,M,3.0,M*2D
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@@ -20,7 +20,7 @@ $GPGSV,3,3,12,26,14,065,48,27,08,336,38,29,14,048,44,44,18,130,41*78
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diff --git a/test/daemon/garmin25lp.log.chk b/test/daemon/garmin25lp.log.chk
index ed1349dc..2dc1b6d7 100644
--- a/test/daemon/garmin25lp.log.chk
+++ b/test/daemon/garmin25lp.log.chk
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diff --git a/test/daemon/garmin38.log.chk b/test/daemon/garmin38.log.chk
index ce195327..d8614ede 100644
--- a/test/daemon/garmin38.log.chk
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diff --git a/test/daemon/garmin48.log.chk b/test/daemon/garmin48.log.chk
index 82a7dcf3..9bef948d 100644
--- a/test/daemon/garmin48.log.chk
+++ b/test/daemon/garmin48.log.chk
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+{"class":"TPV","mode":3,"time":"2001-06-06T22:53:18.000Z","ept":0.005,"lat":-45.457633333,"lon":167.152750000,"alt":14.000,"epx":28.754,"epy":20.351,"epv":48.300,"track":94.5000,"speed":0.000,"climb":-0.021,"eps":57.51,"epc":96.60}
 $GPGSA,A,3,01,,,,13,20,22,,,,28,,3.2,2.2,2.1*3B
 $GPGSV,3,1,11,01,78,221,47,03,09,042,00,04,05,242,00,06,04,149,00*70
 $GPGSV,3,2,11,13,37,235,49,20,40,333,46,22,65,083,46,24,02,205,00*79
@@ -90,7 +90,7 @@ $GPGSV,3,3,11,25,20,108,00,27,08,281,00,28,17,339,40,,,,*42
 {"class":"SKY","xdop":1.90,"ydop":1.35,"vdop":2.10,"tdop":2.94,"hdop":2.20,"gdop":5.11,"pdop":3.20,"satellites":[{"PRN":1,"el":78,"az":221,"ss":47,"used":true,"gnssid":0,"svid":1},{"PRN":3,"el":9,"az":42,"ss":0,"used":false,"gnssid":0,"svid":3},{"PRN":4,"el":5,"az":242,"ss":0,"used":false,"gnssid":0,"svid":4},{"PRN":6,"el":4,"az":149,"ss":0,"used":false,"gnssid":0,"svid":6},{"PRN":13,"el":37,"az":235,"ss":49,"used":true,"gnssid":0,"svid":13},{"PRN":20,"el":40,"az":333,"ss":46,"used":true,"gnssid":0,"svid":20},{"PRN":22,"el":65,"az":83,"ss":46,"used":true,"gnssid":0,"svid":22},{"PRN":24,"el":2,"az":205,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":25,"el":20,"az":108,"ss":0,"used":false,"gnssid":0,"svid":25},{"PRN":27,"el":8,"az":281,"ss":0,"used":false,"gnssid":0,"svid":27},{"PRN":28,"el":17,"az":339,"ss":40,"used":true,"gnssid":0,"svid":28}]}
 $PGRME,10.3,M,15.2,M,16.7,M*1A
 $GPGLL,4527.458,S,16709.165,E,225333,A*37
-{"class":"TPV","mode":2,"time":"2001-06-06T22:53:33.000Z","ept":0.005,"lat":-45.457633333,"lon":167.152750000,"epx":28.431,"epy":20.214,"speed":0.000,"eps":2.90}
+{"class":"TPV","mode":3,"time":"2001-06-06T22:53:33.000Z","ept":0.005,"lat":-45.457633333,"lon":167.152750000,"epx":28.431,"epy":20.214,"epv":48.300,"speed":0.000,"eps":2.90,"epc":5.32}
 $PGRMZ,41,f,3*2E
 $PGRMM,WGS 84*06
 $GPBOD,,T,,M,,*47
@@ -98,7 +98,7 @@ $GPRTE,1,1,c,0*07
 $GPRMC,225334,A,4527.458,S,16709.165,E,000.0,094.5,060601,024.1,E*62
 $GPRMB,A,,,,,,,,,,,,V*71
 $GPGGA,225334,4527.458,S,16709.165,E,1,05,2.4,12.5,M,1.1,M,,*5D
-{"class":"TPV","mode":3,"time":"2001-06-06T22:53:34.000Z","ept":0.005,"lat":-45.457633333,"lon":167.152750000,"alt":12.500,"epx":28.431,"epy":20.214,"epv":48.300,"track":94.5000,"speed":0.000,"eps":56.86}
+{"class":"TPV","mode":3,"time":"2001-06-06T22:53:34.000Z","ept":0.005,"lat":-45.457633333,"lon":167.152750000,"alt":12.500,"epx":28.431,"epy":20.214,"epv":48.300,"track":94.5000,"speed":0.000,"climb":0.003,"eps":56.86,"epc":96.60}
 $GPGSA,A,3,01,,,,13,20,22,,,,28,,4.1,2.4,3.0*39
 $GPGSV,3,1,11,01,78,221,47,03,09,042,00,04,05,242,00,06,04,149,00*70
 $GPGSV,3,2,11,13,37,235,49,20,40,333,46,22,65,083,46,24,02,205,00*79
@@ -106,7 +106,7 @@ $GPGSV,3,3,11,25,20,108,00,27,08,281,00,28,17,339,41,,,,*43
 {"class":"SKY","xdop":1.90,"ydop":1.35,"vdop":3.00,"tdop":2.94,"hdop":2.40,"gdop":5.11,"pdop":4.10,"satellites":[{"PRN":1,"el":78,"az":221,"ss":47,"used":true,"gnssid":0,"svid":1},{"PRN":3,"el":9,"az":42,"ss":0,"used":false,"gnssid":0,"svid":3},{"PRN":4,"el":5,"az":242,"ss":0,"used":false,"gnssid":0,"svid":4},{"PRN":6,"el":4,"az":149,"ss":0,"used":false,"gnssid":0,"svid":6},{"PRN":13,"el":37,"az":235,"ss":49,"used":true,"gnssid":0,"svid":13},{"PRN":20,"el":40,"az":333,"ss":46,"used":true,"gnssid":0,"svid":20},{"PRN":22,"el":65,"az":83,"ss":46,"used":true,"gnssid":0,"svid":22},{"PRN":24,"el":2,"az":205,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":25,"el":20,"az":108,"ss":0,"used":false,"gnssid":0,"svid":25},{"PRN":27,"el":8,"az":281,"ss":0,"used":false,"gnssid":0,"svid":27},{"PRN":28,"el":17,"az":339,"ss":41,"used":true,"gnssid":0,"svid":28}]}
 $PGRME,10.3,M,15.2,M,16.7,M*1A
 $GPGLL,4527.458,S,16709.165,E,225335,A*31
-{"class":"TPV","mode":2,"time":"2001-06-06T22:53:35.000Z","ept":0.005,"lat":-45.457633333,"lon":167.152750000,"epx":28.431,"epy":20.214,"speed":0.000,"eps":43.55}
+{"class":"TPV","mode":3,"time":"2001-06-06T22:53:35.000Z","ept":0.005,"lat":-45.457633333,"lon":167.152750000,"epx":28.431,"epy":20.214,"epv":69.000,"speed":0.000,"eps":43.55,"epc":100.56}
 $PGRMZ,41,f,3*2E
 $PGRMM,WGS 84*06
 $GPBOD,,T,,M,,*47
diff --git a/test/daemon/geostar-geos1m-binary.log.chk b/test/daemon/geostar-geos1m-binary.log.chk
index d5c07938..d6037dd2 100644
--- a/test/daemon/geostar-geos1m-binary.log.chk
+++ b/test/daemon/geostar-geos1m-binary.log.chk
@@ -20,7 +20,7 @@ $GPGGA,125027,5355.1638,N,02730.0245,E,1,10,1.57,273.77,M,23.270,M,,*4E
 $GPRMC,125027,A,5355.1638,N,02730.0245,E,0.0338,208.578,070910,,*26
 $GPGSA,A,3,67,68,69,83,84,2,4,5,,,,,2.3,1.6,1.7*06
 $GPGBS,125027,23.43,M,13.91,M,34.01,M*07
-{"class":"TPV","mode":3,"time":"2010-09-07T12:50:27.000Z","ept":0.005,"lat":53.919396388,"lon":27.500408124,"alt":273.773,"epx":23.432,"epy":13.910,"epv":34.010,"track":208.5776,"speed":0.017,"climb":0.000,"eps":46.86,"epc":68.02}
+{"class":"TPV","mode":3,"time":"2010-09-07T12:50:27.000Z","ept":0.005,"lat":53.919396388,"lon":27.500408124,"alt":273.773,"epx":23.432,"epy":13.910,"epv":34.010,"track":208.5776,"speed":0.017,"climb":-0.151,"eps":46.86,"epc":68.02}
 $GPGSV,6,1,21,67,12,002,41,68,22,053,52,69,08,102,40,74,38,187,00*71
 $GPGSV,6,2,21,75,63,278,00,83,15,057,41,84,69,039,44,85,51,252,00*79
 $GPGSV,6,3,21,86,01,243,00,02,43,065,50,04,11,040,46,05,09,115,38*76
@@ -32,7 +32,7 @@ $GPGGA,125028,5355.1638,N,02730.0246,E,1,10,1.57,273.77,M,23.260,M,,*43
 $GPRMC,125028,A,5355.1638,N,02730.0246,E,0.0304,198.298,070910,,*26
 $GPGSA,A,3,67,68,69,83,84,2,4,5,,,,,2.3,1.6,1.7*06
 $GPGBS,125028,23.43,M,13.91,M,34.01,M*08
-{"class":"TPV","mode":3,"time":"2010-09-07T12:50:28.000Z","ept":0.005,"lat":53.919396987,"lon":27.500409347,"alt":273.769,"epx":23.432,"epy":13.910,"epv":34.010,"track":198.2983,"speed":0.016,"climb":0.000,"eps":46.86,"epc":68.02}
+{"class":"TPV","mode":3,"time":"2010-09-07T12:50:28.000Z","ept":0.005,"lat":53.919396987,"lon":27.500409347,"alt":273.769,"epx":23.432,"epy":13.910,"epv":34.010,"track":198.2983,"speed":0.016,"climb":-0.151,"eps":46.86,"epc":68.02}
 $GPGSV,6,1,21,67,12,002,41,68,22,053,52,69,08,102,40,74,38,187,00*71
 $GPGSV,6,2,21,75,63,278,00,83,15,058,41,84,69,039,44,85,51,252,00*76
 $GPGSV,6,3,21,86,01,243,00,02,43,065,50,04,11,040,46,05,09,115,38*76
@@ -44,4 +44,4 @@ $GPGGA,125029,5355.1639,N,02730.0248,E,1,10,1.57,273.92,M,23.252,M,,*47
 $GPRMC,125029,A,5355.1639,N,02730.0248,E,0.0266,178.518,070910,,*2C
 $GPGSA,A,3,67,68,69,83,84,2,4,5,,,,,2.3,1.6,1.7*06
 $GPGBS,125029,23.43,M,13.91,M,34.01,M*09
-{"class":"TPV","mode":3,"time":"2010-09-07T12:50:29.000Z","ept":0.005,"lat":53.919397821,"lon":27.500413011,"alt":273.924,"epx":23.432,"epy":13.910,"epv":34.010,"track":178.5179,"speed":0.014,"climb":0.000,"eps":46.86,"epc":68.02}
+{"class":"TPV","mode":3,"time":"2010-09-07T12:50:29.000Z","ept":0.005,"lat":53.919397821,"lon":27.500413011,"alt":273.924,"epx":23.432,"epy":13.910,"epv":34.010,"track":178.5179,"speed":0.014,"climb":-0.151,"eps":46.86,"epc":68.02}
diff --git a/test/daemon/gp-320fw-2019-03-28.log.chk b/test/daemon/gp-320fw-2019-03-28.log.chk
index 34ab9e55..b4698b83 100644
--- a/test/daemon/gp-320fw-2019-03-28.log.chk
+++ b/test/daemon/gp-320fw-2019-03-28.log.chk
@@ -7,7 +7,7 @@ $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,13,21,76,138,47,09,47,236,18,04,37,056,*75
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
 $GPGLL,4808.9985,N,01135.0867,E,164517.99,A,A*6F
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:17.990Z","ept":0.005,"lat":48.149975000,"lon":11.584778333,"alt":463.000,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:17.990Z","ept":0.005,"lat":48.149975000,"lon":11.584778333,"alt":463.000,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000}
 $GPRMC,164518.99,A,4808.9985,N,01135.0867,E,000.0,000.0,280319,003.0,E,A*3E
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164518.99,4808.9985,N,01135.0867,E,1,04,01.3,00462.9,M,0046.2,M,,*5A
@@ -15,7 +15,7 @@ $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,12,21,76,138,48,09,47,236,18,04,37,056,*7B
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
 $GPGLL,4808.9985,N,01135.0867,E,164518.99,A,A*60
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:18.990Z","ept":0.005,"lat":48.149975000,"lon":11.584778333,"alt":462.900,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:18.990Z","ept":0.005,"lat":48.149975000,"lon":11.584778333,"alt":462.900,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"epc":87.40}
 $GPRMC,164519.99,A,4808.9985,N,01135.0867,E,000.0,000.0,280319,003.0,E,A*3F
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164519.99,4808.9985,N,01135.0867,E,1,04,01.3,00462.9,M,0046.2,M,,*5B
@@ -27,7 +27,7 @@ $GPGSV,3,3,12,05,13,037,47,14,06,303,,01,00,359,,02,00,204,*73
 $GPRMC,164520.99,A,4808.9985,N,01135.0868,E,000.0,000.0,280319,003.0,E,A*3A
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164520.99,4808.9985,N,01135.0868,E,1,04,01.3,00462.8,M,0046.2,M,,*5F
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:20.990Z","ept":0.005,"lat":48.149975000,"lon":11.584780000,"alt":462.800,"epx":13.246,"epy":14.395,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.79}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:20.990Z","ept":0.005,"lat":48.149975000,"lon":11.584780000,"alt":462.800,"epx":13.246,"epy":14.395,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"eps":28.79,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,14,21,76,137,47,09,47,236,18,04,37,056,*7D
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
@@ -35,7 +35,7 @@ $GPZDA,164520.99,28,03,2019,,*61
 $GPRMC,164521.99,A,4808.9985,N,01135.0868,E,000.0,000.0,280319,003.0,E,A*3B
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164521.99,4808.9985,N,01135.0868,E,1,04,01.3,00462.8,M,0046.2,M,,*5E
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:21.990Z","ept":0.005,"lat":48.149975000,"lon":11.584780000,"alt":462.800,"epx":13.246,"epy":14.395,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.79}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:21.990Z","ept":0.005,"lat":48.149975000,"lon":11.584780000,"alt":462.800,"epx":13.246,"epy":14.395,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.79,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,15,21,76,137,47,09,47,236,18,04,37,056,*7C
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
@@ -44,25 +44,25 @@ $GPGSV,3,3,12,05,13,037,47,14,06,303,,01,00,359,,02,00,204,*73
 $GPRMC,164522.99,A,4808.9985,N,01135.0869,E,000.0,000.0,280319,003.0,E,A*39
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164522.99,4808.9985,N,01135.0869,E,1,04,01.3,00462.8,M,0046.2,M,,*5C
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:22.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.800,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:22.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.800,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,16,21,76,137,47,09,47,236,18,04,37,056,*7F
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
 $GPGLL,4808.9985,N,01135.0869,E,164522.99,A,A*67
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:22.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.800,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:22.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.800,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
 $GPRMC,164523.99,A,4808.9985,N,01135.0869,E,000.0,000.0,280319,003.0,E,A*38
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164523.99,4808.9985,N,01135.0869,E,1,04,01.3,00462.7,M,0046.2,M,,*52
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:23.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:23.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"eps":28.78,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,16,21,76,137,47,09,47,236,17,04,37,056,*70
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
 $GPGLL,4808.9985,N,01135.0869,E,164523.99,A,A*66
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:23.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:23.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"eps":28.78,"epc":87.40}
 $GPRMC,164524.99,A,4808.9985,N,01135.0869,E,000.0,000.0,280319,003.0,E,A*3F
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164524.99,4808.9985,N,01135.0869,E,1,04,01.3,00462.7,M,0046.2,M,,*55
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:24.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:24.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,16,21,76,137,47,09,47,236,17,04,37,056,*70
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
@@ -71,25 +71,25 @@ $GPGSV,3,3,12,05,13,037,47,14,06,303,,02,00,204,,01,00,359,*73
 $GPRMC,164525.99,A,4808.9985,N,01135.0869,E,000.0,000.0,280319,003.0,E,A*3E
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+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:25.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:25.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:25.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:26.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:26.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:26.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:26.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:27.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:27.990Z","ept":0.005,"lat":48.149975000,"lon":11.584781667,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
 $GPGSV,3,1,12,17,77,041,14,21,76,137,48,09,47,236,17,04,37,056,*7D
 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,48,08,15,173,*7E
@@ -97,7 +97,7 @@ $GPZDA,164527.99,28,03,2019,,*66
 $GPRMC,164528.99,A,4808.9985,N,01135.0870,E,000.0,000.0,280319,003.0,E,A*3B
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:28.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:28.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.700,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
@@ -106,16 +106,16 @@ $GPGSV,3,3,12,05,13,037,47,14,06,303,,02,00,204,,01,00,359,*73
 $GPRMC,164529.99,A,4808.9985,N,01135.0870,E,000.0,000.0,280319,003.0,E,A*3A
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:29.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:29.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"eps":28.78,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
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 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
 $GPGLL,4808.9985,N,01135.0870,E,164529.99,A,A*64
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:29.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:29.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"eps":28.78,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:30.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:30.990Z","ept":0.005,"lat":48.149975000,"lon":11.584783333,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
@@ -124,7 +124,7 @@ $GPGSV,3,3,12,05,13,037,47,14,06,303,,01,00,359,,02,00,204,*73
 $GPRMC,164531.99,A,4808.9986,N,01135.0871,E,000.0,000.0,280319,003.0,E,A*31
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:31.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:31.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
 $GPGSA,A,3,,21,,,,06,18,,05,,,,02.3,01.3,01.9*00
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 $GPGSV,3,2,12,12,32,298,,06,29,277,47,18,20,143,47,08,15,173,*71
@@ -132,25 +132,25 @@ $GPZDA,164531.99,28,03,2019,,*61
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:32.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:32.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:32.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:32.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.600,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:33.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.500,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:33.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.500,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"eps":28.78,"epc":87.40}
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+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:33.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.500,"epx":13.235,"epy":14.389,"epv":43.700,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":-0.100,"eps":28.78,"epc":87.40}
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 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
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-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:34.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.500,"epx":13.235,"epy":14.389,"epv":46.000,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:34.990Z","ept":0.005,"lat":48.149976667,"lon":11.584785000,"alt":462.500,"epx":13.235,"epy":14.389,"epv":46.000,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":89.70}
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 $GPGSV,3,2,12,12,32,298,,06,29,277,48,18,20,143,48,08,15,173,*71
@@ -158,7 +158,7 @@ $GPZDA,164534.99,28,03,2019,,*64
 $GPRMC,164535.99,A,4808.9986,N,01135.0872,E,000.0,000.0,280319,003.0,E,A*36
 $GPVTG,000.0,T,357.0,M,000.0,N,0000.0,K,A*12
 $GPGGA,164535.99,4808.9986,N,01135.0872,E,1,04,01.3,00462.5,M,0046.2,M,,*5E
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:35.990Z","ept":0.005,"lat":48.149976667,"lon":11.584786667,"alt":462.500,"epx":13.235,"epy":14.389,"epv":46.000,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:35.990Z","ept":0.005,"lat":48.149976667,"lon":11.584786667,"alt":462.500,"epx":13.235,"epy":14.389,"epv":46.000,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":92.00}
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 $GPGSV,3,1,12,17,77,041,12,21,76,137,47,09,47,236,17,04,37,056,*74
 $GPGSV,3,2,12,12,32,298,,06,29,277,48,18,20,143,48,08,15,173,*71
@@ -167,4 +167,4 @@ $GPGSV,3,3,12,05,13,037,47,14,06,303,,01,00,359,,02,00,204,*73
 $GPRMC,164536.99,A,4808.9986,N,01135.0872,E,000.0,000.0,280319,003.0,E,A*35
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 $GPGGA,164536.99,4808.9986,N,01135.0872,E,1,04,01.3,00462.5,M,0046.2,M,,*5D
-{"class":"TPV","mode":3,"time":"2019-03-28T16:45:36.990Z","ept":0.005,"lat":48.149976667,"lon":11.584786667,"alt":462.500,"epx":13.235,"epy":14.389,"epv":46.000,"track":0.0000,"magtrack":357.0000,"speed":0.000,"eps":28.78}
+{"class":"TPV","mode":3,"time":"2019-03-28T16:45:36.990Z","ept":0.005,"lat":48.149976667,"lon":11.584786667,"alt":462.500,"epx":13.235,"epy":14.389,"epv":46.000,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000,"eps":28.78,"epc":92.00}
diff --git a/test/daemon/gp-320fw-2019-04-06-overflow.log.chk b/test/daemon/gp-320fw-2019-04-06-overflow.log.chk
index 5c510dde..9b3edc1f 100644
--- a/test/daemon/gp-320fw-2019-04-06-overflow.log.chk
+++ b/test/daemon/gp-320fw-2019-04-06-overflow.log.chk
@@ -8,7 +8,7 @@ $GPGSA,A,3,20,,,,31,13,,04,,,,,02.6,01.4,02.1*06
 $GPGSV,3,1,12,20,78,050,41,11,72,261,,06,41,278,,14,38,185,*79
 $GPGSV,3,2,12,31,27,063,41,13,26,209,40,07,25,309,,04,17,308,40*72
 $GPGLL,4808.9978,N,01135.0800,E,235724.02,A,A*6B
-{"class":"TPV","mode":3,"time":"2019-04-06T23:57:24.020Z","ept":0.005,"lat":48.149963333,"lon":11.584666667,"alt":464.400,"epv":48.300,"track":0.0000,"magtrack":357.0000,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2019-04-06T23:57:24.020Z","ept":0.005,"lat":48.149963333,"lon":11.584666667,"alt":464.400,"epv":48.300,"track":0.0000,"magtrack":357.0000,"speed":0.000}
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 $GPGGA,235725.02,4808.9977,N,01135.0800,E,1,04,01.4,00464.5,M,0046.2,M,,*52
@@ -16,7 +16,7 @@ $GPGSA,A,3,20,,,,31,13,,04,,,,,02.6,01.4,02.1*06
 $GPGSV,3,1,12,20,78,050,41,11,72,261,,06,41,278,,14,38,185,*79
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@@ -36,34 +36,34 @@ $GPZDA,235727.02,06,04,2019,,*6A
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@@ -72,25 +72,25 @@ $GPGSV,3,3,12,09,16,099,,03,14,190,,08,10,039,,10,02,065,*79
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+{"class":"TPV","mode":3,"time":"2019-04-06T23:57:39.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":-0.100,"eps":29.43,"epc":101.20}
 $GPGSA,A,3,20,,,,31,13,,04,,,,,02.6,01.4,02.2*05
 $GPGSV,3,1,12,20,78,050,40,11,72,261,,06,41,277,,14,38,185,*77
 $GPGSV,3,2,12,31,27,062,40,13,26,209,40,07,25,309,,04,17,308,40*72
@@ -143,7 +143,7 @@ $GPGSV,3,3,12,09,16,099,,03,14,190,,08,10,039,,10,02,065,*79
 $GPRMC,235740.02,A,4808.9979,N,01135.0800,E,000.1,000.0,060419,003.0,E,A*3C
 $GPVTG,000.0,T,357.0,M,000.1,N,0000.1,K,A*12
 $GPGGA,235740.02,4808.9979,N,01135.0800,E,1,04,01.4,00464.4,M,0046.2,M,,*5E
-{"class":"TPV","mode":3,"time":"2019-04-06T23:57:40.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"eps":29.43}
+{"class":"TPV","mode":3,"time":"2019-04-06T23:57:40.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":0.000,"eps":29.43,"epc":101.20}
 $GPGSA,A,3,20,,,,31,13,,04,,,,,02.6,01.4,02.2*05
 $GPGSV,3,1,12,20,78,050,40,11,72,261,,06,41,277,,14,38,185,*77
 $GPGSV,3,2,12,31,27,062,40,13,26,209,40,07,25,308,,04,17,308,40*73
@@ -152,16 +152,16 @@ $GPGSV,3,3,12,09,16,099,,03,14,190,,08,10,039,,10,02,065,*79
 $GPRMC,235741.02,A,4808.9979,N,01135.0800,E,000.1,000.0,060419,003.0,E,A*3D
 $GPVTG,000.0,T,357.0,M,000.1,N,0000.2,K,A*11
 $GPGGA,235741.02,4808.9979,N,01135.0800,E,1,04,01.4,00464.4,M,0046.2,M,,*5F
-{"class":"TPV","mode":3,"time":"2019-04-06T23:57:41.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"eps":29.43}
+{"class":"TPV","mode":3,"time":"2019-04-06T23:57:41.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":0.000,"eps":29.43,"epc":101.20}
 $GPGSA,A,3,20,,,,31,13,,04,,,,,02.6,01.4,02.2*05
 $GPGSV,3,1,12,20,78,050,40,11,72,261,,06,41,277,,14,38,185,*77
 $GPGSV,3,2,12,31,27,062,40,13,26,209,40,07,25,308,,04,17,308,40*73
 $GPGLL,4808.9979,N,01135.0800,E,235741.02,A,A*69
-{"class":"TPV","mode":3,"time":"2019-04-06T23:57:41.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":0.000,"eps":29.43}
+{"class":"TPV","mode":3,"time":"2019-04-06T23:57:41.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":0.000,"eps":29.43,"epc":101.20}
 $GPRMC,235742.02,A,4808.9979,N,01135.0800,E,000.1,000.0,060419,003.0,E,A*3E
 $GPVTG,000.0,T,357.0,M,000.1,N,0000.2,K,A*11
 $GPGGA,235742.02,4808.9979,N,01135.0800,E,1,04,01.4,00464.4,M,0046.2,M,,*5C
-{"class":"TPV","mode":3,"time":"2019-04-06T23:57:42.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"eps":29.43}
+{"class":"TPV","mode":3,"time":"2019-04-06T23:57:42.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":0.000,"eps":29.43,"epc":101.20}
 $GPGSA,A,3,20,,,,31,13,,04,,,,,02.6,01.4,02.2*05
 $GPGSV,3,1,12,20,78,050,40,11,72,261,,06,41,277,,14,38,185,*77
 $GPGSV,3,2,12,31,27,062,40,13,26,209,40,07,25,308,,04,17,308,40*73
@@ -170,7 +170,7 @@ $GPGSV,3,3,12,09,16,099,,03,14,190,,08,10,039,,10,02,065,*79
 $GPRMC,235743.02,A,4808.9979,N,01135.0800,E,000.1,000.0,060419,003.0,E,A*3F
 $GPVTG,000.0,T,357.0,M,000.1,N,0000.2,K,A*11
 $GPGGA,235743.02,4808.9979,N,01135.0800,E,1,04,01.4,00464.4,M,0046.2,M,,*5D
-{"class":"TPV","mode":3,"time":"2019-04-06T23:57:43.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"eps":29.43}
+{"class":"TPV","mode":3,"time":"2019-04-06T23:57:43.020Z","ept":0.005,"lat":48.149965000,"lon":11.584666667,"alt":464.400,"epx":14.291,"epy":14.717,"epv":50.600,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":0.000,"eps":29.43,"epc":101.20}
 $GPGSA,A,3,20,,,,31,13,,04,,,,,02.6,01.4,02.2*05
 $GPGSV,3,1,12,20,78,050,40,11,72,261,,06,41,277,,14,38,185,*77
 $GPGSV,3,2,12,31,27,062,40,13,26,209,40,07,25,308,,04,17,308,40*73
diff --git a/test/daemon/gp-320fw-2019-04-07-coldboot.log.chk b/test/daemon/gp-320fw-2019-04-07-coldboot.log.chk
index ab4f4d52..991b87ad 100644
--- a/test/daemon/gp-320fw-2019-04-07-coldboot.log.chk
+++ b/test/daemon/gp-320fw-2019-04-07-coldboot.log.chk
@@ -14,7 +14,7 @@ $GPGSA,A,3,20,,,,13,31,,04,,,,,02.7,01.4,02.3*05
 $GPGSV,3,1,12,20,76,058,40,11,73,252,,06,41,274,,14,41,185,*7D
 $GPGSV,3,2,12,13,29,210,41,31,27,059,40,07,26,306,,04,20,308,40*74
 $GPGLL,4808.9993,N,01135.0798,E,000345.03,A,A*66
-{"class":"TPV","mode":3,"time":"2019-04-07T00:03:45.030Z","ept":0.005,"lat":48.149988333,"lon":11.584663333,"alt":459.900,"epv":52.900,"track":0.0000,"magtrack":357.0000,"speed":0.051,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2019-04-07T00:03:45.030Z","ept":0.005,"lat":48.149988333,"lon":11.584663333,"alt":459.900,"epv":52.900,"track":0.0000,"magtrack":357.0000,"speed":0.051}
 $PLCS,REV,PLN012054S07,070312,145743
 $GPRMC,235948.00,V,0000.0000,N,00000.0000,E,,,161206,,,N*45
 $GPRMC,235949.00,V,0000.0000,N,00000.0000,E,,,161206,,,N*44
diff --git a/test/daemon/gps-360.log.chk b/test/daemon/gps-360.log.chk
index 99fdc0d1..d181d495 100644
--- a/test/daemon/gps-360.log.chk
+++ b/test/daemon/gps-360.log.chk
@@ -1,12 +1,12 @@
 $GPGSA,A,3,28,11,26,29,,,,,,,,,12.9,12.5,3.1*39
 {"class":"TPV","mode":3,"epv":71.300}
 $GPRMC,021612.949,A,5029.3800,N,10441.0390,W,0.039560,189.06,280706,,*18
-{"class":"TPV","mode":2,"time":"2006-07-28T02:16:12.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683983333,"track":189.0600,"speed":0.020}
+{"class":"TPV","mode":3,"time":"2006-07-28T02:16:12.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683983333,"epv":71.300,"track":189.0600,"speed":0.020}
 $GPGGA,021613.949,5029.3800,N,10441.0389,W,1,04,12.5,572.4,M,-20.3,M,0.0,0000*7E
 $GPGLL,5029.3800,N,10441.0389,W,021613.949,A*22
 $GPGSA,A,3,28,11,26,29,,,,,,,,,12.9,12.5,3.1*39
 $GPRMC,021613.949,A,5029.3800,N,10441.0389,W,0.009850,267.99,280706,,*19
-{"class":"TPV","mode":3,"time":"2006-07-28T02:16:13.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683981667,"alt":572.400,"epv":71.300,"track":267.9900,"speed":0.005,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2006-07-28T02:16:13.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683981667,"alt":572.400,"epv":71.300,"track":267.9900,"speed":0.005,"epc":142.60}
 $GPGGA,021614.949,5029.3800,N,10441.0388,W,1,04,12.5,572.3,M,-20.3,M,0.0,0000*7F
 $GPGLL,5029.3800,N,10441.0388,W,021614.949,A*24
 $GPGSA,A,3,28,11,26,29,,,,,,,,,12.9,12.5,3.1*39
diff --git a/test/daemon/gr601-w.log.chk b/test/daemon/gr601-w.log.chk
index 37ce6e19..e0090e0f 100644
--- a/test/daemon/gr601-w.log.chk
+++ b/test/daemon/gr601-w.log.chk
@@ -12,7 +12,7 @@ $GPGSV,3,2,11,09,27,201,17,11,25,054,14,17,55,292,28,20,30,116,14*75
 $GPGSV,3,3,11,24,05,327,,28,84,072,33,32,23,078,27*45
 {"class":"SKY","xdop":1.23,"ydop":1.18,"vdop":2.39,"tdop":1.69,"hdop":1.72,"gdop":3.39,"pdop":2.94,"satellites":[{"PRN":1,"el":48,"az":51,"ss":27,"used":true,"gnssid":0,"svid":1},{"PRN":4,"el":20,"az":215,"ss":13,"used":false,"gnssid":0,"svid":4},{"PRN":7,"el":6,"az":177,"ss":0,"used":false,"gnssid":0,"svid":7},{"PRN":8,"el":31,"az":196,"ss":19,"used":true,"gnssid":0,"svid":8},{"PRN":9,"el":27,"az":201,"ss":17,"used":true,"gnssid":0,"svid":9},{"PRN":11,"el":25,"az":54,"ss":14,"used":true,"gnssid":0,"svid":11},{"PRN":17,"el":55,"az":292,"ss":28,"used":true,"gnssid":0,"svid":17},{"PRN":20,"el":30,"az":116,"ss":14,"used":false,"gnssid":0,"svid":20},{"PRN":24,"el":5,"az":327,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":28,"el":84,"az":72,"ss":33,"used":true,"gnssid":0,"svid":28},{"PRN":32,"el":23,"az":78,"ss":27,"used":true,"gnssid":0,"svid":32}]}
 $GPGLL,4002.10513,N,07531.20562,W,143252.00,A,A*7B
-{"class":"TPV","mode":3,"time":"2013-10-24T14:32:52.000Z","ept":0.005,"lat":40.035085500,"lon":-75.520093667,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.008,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2013-10-24T14:32:52.000Z","ept":0.005,"lat":40.035085500,"lon":-75.520093667,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.008}
 $GPRMC,143253.00,A,4002.10554,N,07531.20565,W,0.285,,241013,,,A*6D
 $GPVTG,,T,,M,0.285,N,0.528,K,A*23
 $GPGGA,143253.00,4002.10554,N,07531.20565,W,1,07,1.72,183.8,M,-34.4,M,,*64
@@ -22,7 +22,7 @@ $GPGSV,3,2,11,09,27,201,17,11,25,054,14,17,55,292,28,20,30,116,14*75
 $GPGSV,3,3,11,24,05,327,,28,84,072,33,32,23,078,27*45
 {"class":"SKY","xdop":1.23,"ydop":1.18,"vdop":2.39,"tdop":1.69,"hdop":1.72,"gdop":3.39,"pdop":2.94,"satellites":[{"PRN":1,"el":48,"az":51,"ss":27,"used":true,"gnssid":0,"svid":1},{"PRN":4,"el":20,"az":215,"ss":13,"used":false,"gnssid":0,"svid":4},{"PRN":7,"el":6,"az":177,"ss":0,"used":false,"gnssid":0,"svid":7},{"PRN":8,"el":31,"az":196,"ss":19,"used":true,"gnssid":0,"svid":8},{"PRN":9,"el":27,"az":201,"ss":17,"used":true,"gnssid":0,"svid":9},{"PRN":11,"el":25,"az":54,"ss":14,"used":true,"gnssid":0,"svid":11},{"PRN":17,"el":55,"az":292,"ss":28,"used":true,"gnssid":0,"svid":17},{"PRN":20,"el":30,"az":116,"ss":14,"used":false,"gnssid":0,"svid":20},{"PRN":24,"el":5,"az":327,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":28,"el":84,"az":72,"ss":33,"used":true,"gnssid":0,"svid":28},{"PRN":32,"el":23,"az":78,"ss":27,"used":true,"gnssid":0,"svid":32}]}
 $GPGLL,4002.10554,N,07531.20565,W,143253.00,A,A*7E
-{"class":"TPV","mode":3,"time":"2013-10-24T14:32:53.000Z","ept":0.005,"lat":40.035092333,"lon":-75.520094167,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.147,"climb":0.000,"eps":37.04}
+{"class":"TPV","mode":3,"time":"2013-10-24T14:32:53.000Z","ept":0.005,"lat":40.035092333,"lon":-75.520094167,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.147,"climb":0.000,"eps":37.04,"epc":109.94}
 $GPRMC,143254.00,A,4002.10571,N,07531.20555,W,0.420,,241013,,,A*67
 $GPVTG,,T,,M,0.420,N,0.778,K,A*2D
 $GPGGA,143254.00,4002.10571,N,07531.20555,W,1,07,1.72,183.8,M,-34.4,M,,*67
@@ -32,7 +32,7 @@ $GPGSV,3,2,11,09,27,201,18,11,25,054,12,17,55,292,28,20,30,116,14*7C
 $GPGSV,3,3,11,24,05,327,,28,84,072,33,32,23,078,27*45
 {"class":"SKY","xdop":1.23,"ydop":1.18,"vdop":2.39,"tdop":1.69,"hdop":1.72,"gdop":3.39,"pdop":2.94,"satellites":[{"PRN":1,"el":48,"az":51,"ss":27,"used":true,"gnssid":0,"svid":1},{"PRN":4,"el":20,"az":215,"ss":14,"used":false,"gnssid":0,"svid":4},{"PRN":7,"el":6,"az":177,"ss":0,"used":false,"gnssid":0,"svid":7},{"PRN":8,"el":31,"az":196,"ss":18,"used":true,"gnssid":0,"svid":8},{"PRN":9,"el":27,"az":201,"ss":18,"used":true,"gnssid":0,"svid":9},{"PRN":11,"el":25,"az":54,"ss":12,"used":true,"gnssid":0,"svid":11},{"PRN":17,"el":55,"az":292,"ss":28,"used":true,"gnssid":0,"svid":17},{"PRN":20,"el":30,"az":116,"ss":14,"used":false,"gnssid":0,"svid":20},{"PRN":24,"el":5,"az":327,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":28,"el":84,"az":72,"ss":33,"used":true,"gnssid":0,"svid":28},{"PRN":32,"el":23,"az":78,"ss":27,"used":true,"gnssid":0,"svid":32}]}
 $GPGLL,4002.10571,N,07531.20555,W,143254.00,A,A*7D
-{"class":"TPV","mode":3,"time":"2013-10-24T14:32:54.000Z","ept":0.005,"lat":40.035095167,"lon":-75.520092500,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.216,"climb":0.000,"eps":37.04}
+{"class":"TPV","mode":3,"time":"2013-10-24T14:32:54.000Z","ept":0.005,"lat":40.035095167,"lon":-75.520092500,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.216,"climb":0.000,"eps":37.04,"epc":109.94}
 $GPRMC,143255.00,A,4002.10556,N,07531.20541,W,0.260,,241013,,,A*64
 $GPVTG,,T,,M,0.260,N,0.482,K,A*29
 $GPGGA,143255.00,4002.10556,N,07531.20541,W,1,07,1.72,183.8,M,-34.4,M,,*66
@@ -42,7 +42,7 @@ $GPGSV,3,2,11,09,27,201,18,11,25,054,12,17,55,292,27,20,30,116,14*73
 $GPGSV,3,3,11,24,05,327,,28,84,072,33,32,23,078,27*45
 {"class":"SKY","xdop":1.23,"ydop":1.18,"vdop":2.39,"tdop":1.69,"hdop":1.72,"gdop":3.39,"pdop":2.94,"satellites":[{"PRN":1,"el":48,"az":51,"ss":27,"used":true,"gnssid":0,"svid":1},{"PRN":4,"el":20,"az":215,"ss":14,"used":false,"gnssid":0,"svid":4},{"PRN":7,"el":6,"az":177,"ss":0,"used":false,"gnssid":0,"svid":7},{"PRN":8,"el":31,"az":196,"ss":18,"used":true,"gnssid":0,"svid":8},{"PRN":9,"el":27,"az":201,"ss":18,"used":true,"gnssid":0,"svid":9},{"PRN":11,"el":25,"az":54,"ss":12,"used":true,"gnssid":0,"svid":11},{"PRN":17,"el":55,"az":292,"ss":27,"used":true,"gnssid":0,"svid":17},{"PRN":20,"el":30,"az":116,"ss":14,"used":false,"gnssid":0,"svid":20},{"PRN":24,"el":5,"az":327,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":28,"el":84,"az":72,"ss":33,"used":true,"gnssid":0,"svid":28},{"PRN":32,"el":23,"az":78,"ss":27,"used":true,"gnssid":0,"svid":32}]}
 $GPGLL,4002.10556,N,07531.20541,W,143255.00,A,A*7C
-{"class":"TPV","mode":3,"time":"2013-10-24T14:32:55.000Z","ept":0.005,"lat":40.035092667,"lon":-75.520090167,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.134,"climb":0.000,"eps":37.04}
+{"class":"TPV","mode":3,"time":"2013-10-24T14:32:55.000Z","ept":0.005,"lat":40.035092667,"lon":-75.520090167,"alt":183.800,"epx":18.521,"epy":17.648,"epv":54.970,"track":0.0000,"speed":0.134,"climb":0.000,"eps":37.04,"epc":109.94}
 $GPRMC,143256.00,A,4002.10529,N,07531.20534,W,0.034,,241013,,,A*6E
 $GPVTG,,T,,M,0.034,N,0.062,K,A*20
 $GPGGA,143256.00,4002.10529,N,07531.20534,W,1,07,1.72,183.7,M,-34.4,M,,*60
@@ -52,7 +52,7 @@ $GPGSV,3,2,11,09,27,201,18,11,25,054,14,17,55,292,28,20,30,116,13*7D
 $GPGSV,3,3,11,24,05,327,,28,84,072,33,32,23,078,27*45
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@@ -62,7 +62,7 @@ $GPGSV,3,2,11,09,27,201,18,11,25,054,14,17,55,292,27,20,30,116,12*73
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@@ -72,7 +72,7 @@ $GPGSV,3,2,11,09,27,201,18,11,25,054,13,17,55,292,27,20,30,116,10*76
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@@ -82,7 +82,7 @@ $GPGSV,3,2,11,09,27,201,18,11,25,054,13,17,55,292,27,20,30,116,13*75
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 $GPGGA,143300.00,4002.10504,N,07531.20524,W,1,07,1.72,183.3,M,-34.4,M,,*68
@@ -92,4 +92,4 @@ $GPGSV,3,2,11,09,27,201,18,11,25,054,13,17,55,292,27,20,30,116,13*75
 $GPGSV,3,3,11,24,05,327,,28,84,072,33,32,23,078,26*44
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diff --git a/test/daemon/gr8013-w.log.chk b/test/daemon/gr8013-w.log.chk
index bb94b8cf..8636ff55 100644
--- a/test/daemon/gr8013-w.log.chk
+++ b/test/daemon/gr8013-w.log.chk
@@ -4,9 +4,9 @@ $GNVTG,,T,,M,0.031,N,0.058,K,A*32
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@@ -17,7 +17,7 @@ $GLGSV,3,2,10,77,28,318,33,78,03,003,,84,05,098,12,85,51,083,26*67
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@@ -40,7 +40,7 @@ $GNGST,181142.00,46,,,,4.7,1.9,5.3*49
 {"class":"GST","time":"2015-06-21T20:30:44.000Z","rms":46.000,"lat":4.700,"lon":1.900,"alt":5.300}
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@@ -59,4 +59,4 @@ $GNGST,181143.00,45,,,,4.7,1.9,5.3*4B
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diff --git a/test/daemon/greis-test2.log.chk b/test/daemon/greis-test2.log.chk
index 1250157d..76232db2 100644
--- a/test/daemon/greis-test2.log.chk
+++ b/test/daemon/greis-test2.log.chk
@@ -1,4 +1,4 @@
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diff --git a/test/daemon/hab-gpspi.log.chk b/test/daemon/hab-gpspi.log.chk
index 99e7223b..ab39e6a0 100644
--- a/test/daemon/hab-gpspi.log.chk
+++ b/test/daemon/hab-gpspi.log.chk
@@ -4,9 +4,9 @@ $GNVTG,,T,,M,0.250,N,0.463,K,A*3B
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diff --git a/test/daemon/haicom-305N.log.chk b/test/daemon/haicom-305N.log.chk
index eec09be8..3f10d95e 100644
--- a/test/daemon/haicom-305N.log.chk
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diff --git a/test/daemon/hemi.log.chk b/test/daemon/hemi.log.chk
index 3b8a293f..b105c69a 100644
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 $GPGGA,194057.50,4221.8237090,N,07101.9439268,W,1,04,1.4,7.671,M,-33.057,M,,*52
-{"class":"TPV","mode":3,"time":"2018-09-07T19:40:57.500Z","ept":0.005,"lat":42.363728483,"lon":-71.032398780,"alt":7.671,"speed":5.927,"climb":-8.070}
+{"class":"TPV","mode":3,"time":"2018-09-07T19:40:57.500Z","ept":0.005,"lat":42.363728483,"lon":-71.032398780,"alt":7.671}
 $GPVTG,97.75,T,112.39,M,0.04,N,0.07,K,A*14
 $GPHDT,,T*1B
 $GPGGA,194058.00,4221.8236441,N,07101.9438734,W,1,04,1.4,6.786,M,-33.057,M,,*54
diff --git a/test/daemon/humminbird-M37.log.chk b/test/daemon/humminbird-M37.log.chk
index 85016afe..d29d32d7 100644
--- a/test/daemon/humminbird-M37.log.chk
+++ b/test/daemon/humminbird-M37.log.chk
@@ -14,10 +14,10 @@ $INZDA,194104,16,09,2006,-05,00*73
 $INMTW,17.9,C*1B
 $INDPT,2.1,0.0*44
 $INRMC,194105,A,4426.1142,N,07140.5515,W,5.3,76.8,160906,15.8,W*61
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:05.000Z","ept":0.005,"lat":44.435236667,"lon":-71.675858333,"track":76.8000,"speed":2.727}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:05.000Z","ept":0.005,"lat":44.435236667,"lon":-71.675858333,"track":76.8000,"speed":2.727}
 $INDPT,2.1,0.0*44
 $INGLL,4426.1146,N,07140.5499,W,194106,A*26
-{"class":"TPV","mode":2,"time":"2006-09-16T19:41:06.000Z","ept":0.005,"lat":44.435243333,"lon":-71.675831667,"speed":2.249}
+{"class":"TPV","mode":0,"time":"2006-09-16T19:41:06.000Z","ept":0.005}
 $INVTG,76.3,T,92.1,M,5.3,N,9.7,K*5E
 $INMTW,17.9,C*1B
 $INDPT,2.2,0.0*47
@@ -30,10 +30,10 @@ $INZDA,194108,16,09,2006,-05,00*7F
 $INMTW,17.9,C*1B
 $INDPT,2.2,0.0*47
 $INRMC,194109,A,4426.1153,N,07140.5439,W,5.2,76.5,160906,15.8,W*6E
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:09.000Z","ept":0.005,"lat":44.435255000,"lon":-71.675731667,"track":76.5000,"speed":2.675}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:09.000Z","ept":0.005,"lat":44.435255000,"lon":-71.675731667,"track":76.5000,"speed":2.675}
 $INDPT,2.3,0.0*46
 $INGLL,4426.1157,N,07140.5418,W,194110,A*28
-{"class":"TPV","mode":2,"time":"2006-09-16T19:41:10.000Z","ept":0.005,"lat":44.435261667,"lon":-71.675696667,"speed":2.883}
+{"class":"TPV","mode":0,"time":"2006-09-16T19:41:10.000Z","ept":0.005}
 $INVTG,77.2,T,93.0,M,5.2,N,9.7,K*5F
 $INMTW,17.9,C*1B
 $INDPT,2.2,0.0*47
@@ -46,10 +46,10 @@ $INZDA,194112,16,09,2006,-05,00*74
 $INMTW,17.9,C*1B
 $INDPT,2.3,0.0*46
 $INRMC,194113,A,4426.1169,N,07140.5358,W,5.2,75.6,160906,15.8,W*6C
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:13.000Z","ept":0.005,"lat":44.435281667,"lon":-71.675596667,"track":75.6000,"speed":2.675}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:13.000Z","ept":0.005,"lat":44.435281667,"lon":-71.675596667,"track":75.6000,"speed":2.675}
 $INDPT,2.4,0.0*41
 $INGLL,4426.1173,N,07140.5337,W,194114,A*20
-{"class":"TPV","mode":2,"time":"2006-09-16T19:41:14.000Z","ept":0.005,"lat":44.435288333,"lon":-71.675561667,"speed":2.883}
+{"class":"TPV","mode":0,"time":"2006-09-16T19:41:14.000Z","ept":0.005}
 $INVTG,76.0,T,91.8,M,5.2,N,9.6,K*57
 $INMTW,17.9,C*1B
 $INDPT,2.5,0.0*40
@@ -62,10 +62,10 @@ $INZDA,194116,16,09,2006,-05,00*70
 $INMTW,18.0,C*1D
 $INDPT,2.4,0.0*41
 $INRMC,194117,A,4426.1180,N,07140.5278,W,5.2,76.8,160906,15.8,W*61
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:17.000Z","ept":0.005,"lat":44.435300000,"lon":-71.675463333,"track":76.8000,"speed":2.675}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:17.000Z","ept":0.005,"lat":44.435300000,"lon":-71.675463333,"track":76.8000,"speed":2.675}
 $INDPT,2.5,0.0*40
 $INGLL,4426.1184,N,07140.5261,W,194118,A*26
-{"class":"TPV","mode":2,"time":"2006-09-16T19:41:18.000Z","ept":0.005,"lat":44.435306667,"lon":-71.675435000,"speed":2.374}
+{"class":"TPV","mode":0,"time":"2006-09-16T19:41:18.000Z","ept":0.005}
 $INVTG,76.4,T,92.2,M,5.2,N,9.7,K*5B
 $INMTW,18.0,C*1D
 $INDPT,2.6,0.0*43
@@ -78,10 +78,10 @@ $INZDA,194120,16,09,2006,-05,00*75
 $INMTW,17.9,C*1B
 $INDPT,2.4,0.0*41
 $INRMC,194121,A,4426.1192,N,07140.5202,W,5.2,79.3,160906,15.8,W*6E
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:21.000Z","ept":0.005,"lat":44.435320000,"lon":-71.675336667,"track":79.3000,"speed":2.675}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:21.000Z","ept":0.005,"lat":44.435320000,"lon":-71.675336667,"track":79.3000,"speed":2.675}
 $INDPT,2.4,0.0*41
 $INGLL,4426.1196,N,07140.5181,W,194122,A*21
-{"class":"TPV","mode":2,"time":"2006-09-16T19:41:22.000Z","ept":0.005,"lat":44.435326667,"lon":-71.675301667,"speed":2.883}
+{"class":"TPV","mode":0,"time":"2006-09-16T19:41:22.000Z","ept":0.005}
 $INVTG,78.6,T,94.4,M,5.3,N,9.7,K*56
 $INMTW,18.0,C*1D
 $INDPT,2.4,0.0*41
@@ -94,7 +94,7 @@ $INZDA,194124,16,09,2006,-05,00*71
 $INMTW,17.9,C*1B
 $INDPT,2.5,0.0*40
 $INRMC,194111,A,4426.1203,N,07140.5121,W,5.2,81.5,160906,15.8,W*65
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:11.000Z","ept":0.005,"lat":44.435338333,"lon":-71.675201667,"track":81.5000,"speed":2.675}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:11.000Z","ept":0.005,"lat":44.435338333,"lon":-71.675201667,"track":81.5000,"speed":2.675}
 $INDPT,2.4,0.0*41
 $INGLL,4426.1203,N,07140.5100,W,194112,A*24
 {"class":"TPV","mode":2,"time":"2006-09-16T19:41:12.000Z","ept":0.005,"lat":44.435338333,"lon":-71.675166667,"speed":2.787}
@@ -110,10 +110,10 @@ $INZDA,194114,16,09,2006,-05,00*72
 $INMTW,18.0,C*1D
 $INDPT,2.4,0.0*41
 $INRMC,194115,A,4426.1211,N,07140.5040,W,5.2,83.9,160906,15.8,W*6A
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:15.000Z","ept":0.005,"lat":44.435351667,"lon":-71.675066667,"track":83.9000,"speed":2.675}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:15.000Z","ept":0.005,"lat":44.435351667,"lon":-71.675066667,"track":83.9000,"speed":2.675}
 $INDPT,2.4,0.0*41
 $INGLL,4426.1211,N,07140.5024,W,194116,A*24
-{"class":"TPV","mode":2,"time":"2006-09-16T19:41:16.000Z","ept":0.005,"lat":44.435351667,"lon":-71.675040000,"speed":2.123}
+{"class":"TPV","mode":0,"time":"2006-09-16T19:41:16.000Z","ept":0.005}
 $INVTG,83.7,T,99.5,M,5.2,N,9.6,K*5F
 $INMTW,18.1,C*1C
 $INDPT,2.4,0.0*41
@@ -126,4 +126,4 @@ $INZDA,194118,16,09,2006,-05,00*7E
 $INMTW,18.0,C*1D
 $INDPT,2.3,0.0*46
 $INRMC,194119,A,4426.1219,N,07140.4965,W,5.1,85.4,160906,15.8,W*69
-{"class":"TPV","status":2,"mode":2,"time":"2006-09-16T19:41:19.000Z","ept":0.005,"lat":44.435365000,"lon":-71.674941667,"track":85.4000,"speed":2.624}
+{"class":"TPV","status":2,"mode":3,"time":"2006-09-16T19:41:19.000Z","ept":0.005,"lat":44.435365000,"lon":-71.674941667,"track":85.4000,"speed":2.624}
diff --git a/test/daemon/iTrek.log.chk b/test/daemon/iTrek.log.chk
index c03bb4d3..ce0c0d14 100644
--- a/test/daemon/iTrek.log.chk
+++ b/test/daemon/iTrek.log.chk
@@ -12,30 +12,30 @@ $GPGSA,A,3,09,05,14,26,,,,,,,,,2.9,2.2,1.9*3C
 $GPGSA,A,3,09,05,14,26,,,,,,,,,2.9,2.2,1.9*3C
 {"class":"TPV","mode":3,"epv":43.700}
 $GPRMC,045849.000,A,3519.9048,N,13640.2631,E,0.10,92.17,270705,,*31
-{"class":"TPV","mode":2,"time":"2005-07-27T04:58:49.000Z","ept":0.005,"lat":35.331746667,"lon":136.671051667,"track":92.1700,"speed":0.051}
+{"class":"TPV","mode":3,"time":"2005-07-27T04:58:49.000Z","ept":0.005,"lat":35.331746667,"lon":136.671051667,"epv":43.700,"track":92.1700,"speed":0.051}
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 {"class":"TPV","mode":3,"time":"2005-07-27T04:58:49.000Z","ept":0.005,"lat":35.331746667,"lon":136.671051667,"epv":43.700,"track":92.1700,"speed":0.051}
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 {"class":"SKY","vdop":1.90,"hdop":2.20,"pdop":2.90,"satellites":[{"PRN":22,"el":62,"az":272,"ss":24,"used":false,"gnssid":0,"svid":22},{"PRN":18,"el":55,"az":192,"ss":16,"used":false,"gnssid":0,"svid":18},{"PRN":30,"el":50,"az":179,"ss":18,"used":false,"gnssid":0,"svid":30},{"PRN":15,"el":9,"az":229,"ss":0,"used":false,"gnssid":0,"svid":15}]}
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@@ -48,24 +48,24 @@ $GPRMC,045857.000,A,3519.9040,N,13640.2632,E,0.11,116.49,270705,,*02
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@@ -98,10 +98,10 @@ $GPRMC,045909.000,A,3519.9026,N,13640.2634,E,0.35,16.55,270705,,*34
 {"class":"TPV","mode":3,"time":"2005-07-27T04:59:09.000Z","ept":0.005,"lat":35.331710000,"lon":136.671056667,"alt":81.000,"epx":17.960,"epy":28.495,"epv":43.700,"track":16.5500,"speed":0.180,"climb":0.200,"eps":56.99,"epc":87.40}
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+{"class":"TPV","mode":3,"time":"2005-07-27T04:59:10.000Z","ept":0.005,"lat":35.331710000,"lon":136.671056667,"epx":17.960,"epy":28.495,"epv":43.700,"track":28.9600,"speed":0.093,"eps":56.99,"epc":87.40}
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-{"class":"TPV","mode":3,"time":"2005-07-27T04:59:11.000Z","ept":0.005,"lat":35.331710000,"lon":136.671056667,"alt":81.300,"epx":17.960,"epy":28.495,"epv":43.700,"track":13.1900,"speed":0.216,"climb":0.000,"eps":56.99}
+{"class":"TPV","mode":3,"time":"2005-07-27T04:59:11.000Z","ept":0.005,"lat":35.331710000,"lon":136.671056667,"alt":81.300,"epx":17.960,"epy":28.495,"epv":43.700,"track":13.1900,"speed":0.216,"eps":56.99,"epc":87.40}
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@@ -117,23 +117,23 @@ $GPRMC,045914.000,A,3519.9024,N,13640.2635,E,0.30,160.36,270705,,*0B
 {"class":"TPV","mode":3,"time":"2005-07-27T04:59:14.000Z","ept":0.005,"lat":35.331706667,"lon":136.671058333,"alt":80.800,"epx":17.960,"epy":28.495,"epv":43.700,"track":160.3600,"speed":0.154,"climb":-0.400,"eps":56.99,"epc":87.40}
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 {"class":"TPV","mode":3,"time":"2005-07-27T04:59:20.000Z","ept":0.005,"lat":35.331695000,"lon":136.671061667,"alt":78.800,"epx":17.960,"epy":28.495,"epv":43.700,"track":165.1500,"speed":0.149,"climb":-0.100,"eps":56.99,"epc":87.40}
@@ -150,4 +150,4 @@ $GPRMC,045922.000,A,3519.9007,N,13640.2636,E,3.35,194.25,270705,,*03
 {"class":"TPV","mode":3,"time":"2005-07-27T04:59:22.000Z","ept":0.005,"lat":35.331678333,"lon":136.671060000,"alt":78.600,"epx":17.960,"epy":28.495,"epv":43.700,"track":194.2500,"speed":1.723,"climb":0.100,"eps":56.99,"epc":87.40}
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diff --git a/test/daemon/isync.log.chk b/test/daemon/isync.log.chk
index 54e2b928..4acd2865 100644
--- a/test/daemon/isync.log.chk
+++ b/test/daemon/isync.log.chk
@@ -4,7 +4,7 @@ $GPVTG,,T,,M,0.048,N,0.089,K,D*2B
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 {"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:19.000Z","ept":0.005,"lat":41.897665000,"lon":-87.643939667,"alt":218.100,"track":0.0000,"speed":0.025}
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 {"class":"OSC","running":true,"reference":true,"disciplined":true,"delta":108}
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@@ -30,7 +30,7 @@ $GPGST,131520.00,18,,,,0.70,0.49,1.1*50
 {"class":"GST","time":"2016-02-05T01:47:20.000Z","rms":18.000,"lat":0.700,"lon":0.490,"alt":1.100}
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@@ -46,7 +46,7 @@ $GPGST,131521.00,21,,,,0.70,0.49,1.1*5B
 {"class":"GST","time":"2016-02-05T01:47:22.000Z","rms":21.000,"lat":0.700,"lon":0.490,"alt":1.100}
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@@ -62,7 +62,7 @@ $GPGST,131522.00,18,,,,0.69,0.49,1.1*5A
 {"class":"GST","time":"2016-02-05T01:47:24.000Z","rms":18.000,"lat":0.690,"lon":0.490,"alt":1.100}
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@@ -77,7 +77,7 @@ $GPGST,131523.00,15,,,,0.69,0.48,1.1*57
 {"class":"GST","time":"2016-02-05T01:47:26.000Z","rms":15.000,"lat":0.690,"lon":0.480,"alt":1.100}
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@@ -92,7 +92,7 @@ $GPGST,131524.00,13,,,,0.69,0.48,1.1*56
 {"class":"GST","time":"2016-02-05T01:47:28.000Z","rms":13.000,"lat":0.690,"lon":0.480,"alt":1.100}
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@@ -108,7 +108,7 @@ $GPGST,131525.00,19,,,,0.69,0.48,1.1*5D
 {"class":"GST","time":"2016-02-05T01:47:30.000Z","rms":19.000,"lat":0.690,"lon":0.480,"alt":1.100}
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+{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:25.000Z","ept":0.005,"lat":41.897664167,"lon":-87.643944167,"alt":218.000,"epx":0.500,"epy":0.700,"epv":1.100,"track":0.0000,"speed":0.026,"climb":0.100,"eps":2.38,"epc":7.31}
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@@ -123,7 +123,7 @@ $GPGST,131526.00,17,,,,0.69,0.48,1.1*50
 {"class":"GST","time":"2016-02-05T01:47:32.000Z","rms":17.000,"lat":0.690,"lon":0.480,"alt":1.100}
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+{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:26.000Z","ept":0.005,"lat":41.897664167,"lon":-87.643944167,"alt":218.100,"epx":0.500,"epy":0.700,"epv":1.100,"track":0.0000,"speed":0.026,"climb":0.100,"eps":3.26,"epc":6.96}
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@@ -138,7 +138,7 @@ $GPGST,131527.00,21,,,,0.69,0.48,1.0*55
 {"class":"GST","time":"2016-02-05T01:47:34.000Z","rms":21.000,"lat":0.690,"lon":0.480,"alt":1.000}
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-{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:27.000Z","ept":0.005,"lat":41.897664000,"lon":-87.643944500,"alt":218.200,"epx":0.500,"epy":0.700,"epv":1.000,"track":0.0000,"speed":0.025,"climb":0.000,"eps":3.77}
+{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:27.000Z","ept":0.005,"lat":41.897664000,"lon":-87.643944500,"alt":218.200,"epx":0.500,"epy":0.700,"epv":1.000,"track":0.0000,"speed":0.025,"climb":0.100,"eps":3.77,"epc":8.35}
 $GPRMC,131528.00,A,4153.85984,N,08738.63668,W,0.048,,030216,,,D*63
 $GPVTG,,T,,M,0.048,N,0.089,K,D*2B
 $GPGGA,131528.00,4153.85984,N,08738.63668,W,2,12,0.77,218.3,M,-33.8,M,,0000*6D
@@ -153,7 +153,7 @@ $GPGST,131528.00,18,,,,0.69,0.48,1.0*50
 {"class":"GST","time":"2016-02-05T01:47:36.000Z","rms":18.000,"lat":0.690,"lon":0.480,"alt":1.000}
 $GPZDA,131528.00,03,02,2016,00,00*6E
 $GPGBS,131528.00,0.7,0.5,1.0,,,,*4E
-{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:28.000Z","ept":0.005,"lat":41.897664000,"lon":-87.643944667,"alt":218.300,"epx":0.500,"epy":0.700,"epv":1.000,"track":0.0000,"speed":0.025,"climb":0.000,"eps":2.88}
+{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:28.000Z","ept":0.005,"lat":41.897664000,"lon":-87.643944667,"alt":218.300,"epx":0.500,"epy":0.700,"epv":1.000,"track":0.0000,"speed":0.025,"climb":0.100,"eps":2.88,"epc":6.87}
 $GPRMC,131529.00,A,4153.85984,N,08738.63669,W,0.048,,030216,,,D*63
 $GPVTG,,T,,M,0.048,N,0.088,K,D*2A
 $GPGGA,131529.00,4153.85984,N,08738.63669,W,2,12,0.79,218.4,M,-33.8,M,,0000*64
@@ -169,7 +169,7 @@ $GPGST,131529.00,16,,,,0.69,0.47,1.0*50
 {"class":"GST","time":"2016-02-05T01:47:38.000Z","rms":16.000,"lat":0.690,"lon":0.470,"alt":1.000}
 $GPZDA,131529.00,03,02,2016,00,00*6F
 $GPGBS,131529.00,0.7,0.5,1.0,26,,37.2,20.5*4A
-{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:29.000Z","ept":0.005,"lat":41.897664000,"lon":-87.643944833,"alt":218.400,"epx":0.500,"epy":0.700,"epv":1.000,"track":0.0000,"speed":0.025,"climb":0.000,"eps":2.50}
+{"class":"TPV","status":2,"mode":3,"time":"2016-02-03T13:15:29.000Z","ept":0.005,"lat":41.897664000,"lon":-87.643944833,"alt":218.400,"epx":0.500,"epy":0.700,"epv":1.000,"track":0.0000,"speed":0.025,"climb":0.100,"eps":2.50,"epc":6.87}
 $GPRMC,131530.00,A,4153.85984,N,08738.63670,W,0.038,,030216,,,D*64
 $GPVTG,,T,,M,0.038,N,0.070,K,D*2A
 $GPGGA,131530.00,4153.85984,N,08738.63670,W,2,12,0.73,218.5,M,-33.8,M,,0000*6F
diff --git a/test/daemon/magellan315.log.chk b/test/daemon/magellan315.log.chk
index f9638418..8d420653 100644
--- a/test/daemon/magellan315.log.chk
+++ b/test/daemon/magellan315.log.chk
@@ -5,7 +5,7 @@ $GPGGA,120824.76,3908.8199,N,00023.0832,W,1,06,2.1,00176,M,,,,*39
 $GPRMC,120824.76,A,3908.8199,N,00023.0832,W,00.0,000.0,130305,01.,W*62
 {"class":"TPV","mode":3,"time":"2005-03-13T12:08:24.760Z","ept":0.005,"lat":39.146998333,"lon":-0.384720000,"alt":176.000,"track":0.0000,"speed":0.000}
 $GPGSA,A,3,19,15,03,18,22,11,,,,,,,3.5,2.1,2.7*34
-{"class":"TPV","mode":3,"time":"2005-03-13T12:08:24.760Z","ept":0.005,"lat":39.146998333,"lon":-0.384720000,"alt":176.000,"epv":62.100,"track":0.0000,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2005-03-13T12:08:24.760Z","ept":0.005,"lat":39.146998333,"lon":-0.384720000,"alt":176.000,"epv":62.100,"track":0.0000,"speed":0.000}
 $GPGSV,3,1,12,19,77,349,45,03,68,117,41,22,39,052,52,11,35,274,56*7E
 $GPGSV,3,2,12,15,22,062,52,14,21,106,,16,10,171,,18,10,040,47*73
 $GPGSV,3,3,12,01,08,146,,20,04,211,,08,02,294,,28,02,328,*70
@@ -13,7 +13,7 @@ $GPGSV,3,3,12,01,08,146,,20,04,211,,08,02,294,,28,02,328,*70
 $GPGLL,3908.8200,N,00023.0832,W,120827.523,A*2C
 $GPGGA,120827.52,3908.8200,N,00023.0832,W,1,06,2.1,00176,M,,,,*3F
 $GPRMC,120827.52,A,3908.8200,N,00023.0832,W,00.0,000.0,130305,01.,W*64
-{"class":"TPV","mode":3,"time":"2005-03-13T12:08:27.520Z","ept":0.005,"lat":39.147000000,"lon":-0.384720000,"alt":176.000,"epx":13.523,"epy":36.714,"epv":62.100,"track":0.0000,"speed":0.000,"climb":0.000,"eps":26.58}
+{"class":"TPV","mode":3,"time":"2005-03-13T12:08:27.520Z","ept":0.005,"lat":39.147000000,"lon":-0.384720000,"alt":176.000,"epx":13.523,"epy":36.714,"epv":62.100,"track":0.0000,"speed":0.000,"climb":0.000,"eps":26.58,"epc":44.95}
 $GPGSA,A,3,19,15,03,18,22,11,,,,,,,3.5,2.1,2.7*34
 $GPGSV,3,1,12,19,77,349,46,03,68,117,42,22,39,052,50,11,35,274,55*7F
 $GPGSV,3,2,12,15,22,062,52,14,21,106,,16,10,171,,18,10,040,49*7D
@@ -22,7 +22,7 @@ $GPGSV,3,3,12,01,08,146,,20,04,211,,08,02,294,,28,02,328,*70
 $GPGLL,3908.8201,N,00023.0832,W,120829.500,A*22
 $GPGGA,120829.50,3908.8201,N,00023.0832,W,1,06,2.1,00176,M,,,,*32
 $GPRMC,120829.50,A,3908.8201,N,00023.0832,W,00.0,000.0,130305,01.,W*69
-{"class":"TPV","mode":3,"time":"2005-03-13T12:08:29.500Z","ept":0.005,"lat":39.147001667,"lon":-0.384720000,"alt":176.000,"epx":13.523,"epy":36.714,"epv":62.100,"track":0.0000,"speed":0.000,"climb":0.000,"eps":37.08}
+{"class":"TPV","mode":3,"time":"2005-03-13T12:08:29.500Z","ept":0.005,"lat":39.147001667,"lon":-0.384720000,"alt":176.000,"epx":13.523,"epy":36.714,"epv":62.100,"track":0.0000,"speed":0.000,"climb":0.000,"eps":37.08,"epc":62.73}
 $GPGSA,A,3,19,15,03,18,22,11,,,,,,,3.5,2.1,2.7*34
 $GPGSV,3,1,12,19,77,349,44,03,68,117,42,22,39,052,52,11,35,274,56*7C
 $GPGSV,3,2,12,15,22,062,52,14,21,106,,16,10,171,,18,10,040,47*73
diff --git a/test/daemon/mr-350p.log.chk b/test/daemon/mr-350p.log.chk
index 2aa75fd8..61f2cf49 100644
--- a/test/daemon/mr-350p.log.chk
+++ b/test/daemon/mr-350p.log.chk
@@ -4,54 +4,54 @@ $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 {"class":"TPV","mode":3,"lat":47.744961667,"lon":-122.112128333,"alt":136.400,"epv":41.400}
 $GPZDA,051134.000,04,07,2012,,*56
 $GPGGA,051134.000,4744.6980,N,12206.7275,W,1,05,1.9,135.4,M,-17.1,M,18.8,0000*73
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:34.000Z","ept":0.005,"lat":47.744966667,"lon":-122.112125000,"alt":135.400,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:34.000Z","ept":0.005,"lat":47.744966667,"lon":-122.112125000,"alt":135.400,"epv":41.400}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051135.000,04,07,2012,,*57
 $GPGGA,051135.000,4744.6981,N,12206.7273,W,1,05,1.9,134.7,M,-17.1,M,18.8,0000*77
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:35.000Z","ept":0.005,"lat":47.744968333,"lon":-122.112121667,"alt":134.700,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:35.000Z","ept":0.005,"lat":47.744968333,"lon":-122.112121667,"alt":134.700,"epv":41.400,"speed":0.311,"climb":-0.700,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051136.000,04,07,2012,,*54
 $GPGGA,051136.000,4744.6980,N,12206.7271,W,1,05,1.9,134.2,M,-17.1,M,18.8,0000*72
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:36.000Z","ept":0.005,"lat":47.744966667,"lon":-122.112118333,"alt":134.200,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:36.000Z","ept":0.005,"lat":47.744966667,"lon":-122.112118333,"alt":134.200,"epv":41.400,"speed":0.311,"climb":-0.500,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051137.000,04,07,2012,,*55
 $GPGGA,051137.000,4744.6980,N,12206.7274,W,1,05,1.9,134.7,M,-17.1,M,18.8,0000*73
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:37.000Z","ept":0.005,"lat":47.744966667,"lon":-122.112123333,"alt":134.700,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:37.000Z","ept":0.005,"lat":47.744966667,"lon":-122.112123333,"alt":134.700,"epv":41.400,"speed":0.375,"climb":0.500,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051138.000,04,07,2012,,*5A
 $GPGGA,051138.000,4744.6981,N,12206.7278,W,1,05,1.9,135.6,M,-17.1,M,18.8,0000*71
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:38.000Z","ept":0.005,"lat":47.744968333,"lon":-122.112130000,"alt":135.600,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:38.000Z","ept":0.005,"lat":47.744968333,"lon":-122.112130000,"alt":135.600,"epv":41.400,"speed":0.533,"climb":0.900,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051139.000,04,07,2012,,*5B
 $GPGGA,051139.000,4744.6981,N,12206.7281,W,1,05,1.9,136.3,M,-17.1,M,18.8,0000*70
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:39.000Z","ept":0.005,"lat":47.744968333,"lon":-122.112135000,"alt":136.300,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:39.000Z","ept":0.005,"lat":47.744968333,"lon":-122.112135000,"alt":136.300,"epv":41.400,"speed":0.375,"climb":0.700,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051140.000,04,07,2012,,*55
 $GPGGA,051140.000,4744.6982,N,12206.7285,W,1,05,1.9,137.1,M,-17.1,M,18.8,0000*7A
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:40.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112141667,"alt":137.100,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:40.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112141667,"alt":137.100,"epv":41.400,"speed":0.533,"climb":0.800,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051141.000,04,07,2012,,*54
 $GPGGA,051141.000,4744.6982,N,12206.7287,W,1,05,1.9,137.7,M,-17.1,M,18.8,0000*7F
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:41.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112145000,"alt":137.700,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:41.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112145000,"alt":137.700,"epv":41.400,"speed":0.250,"climb":0.600,"epc":82.80}
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 $GPGGA,051142.000,4744.6982,N,12206.7289,W,1,05,1.9,138.0,M,-17.1,M,18.8,0000*7A
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:42.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112148333,"alt":138.000,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:42.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112148333,"alt":138.000,"epv":41.400,"speed":0.250,"climb":0.300,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051143.000,04,07,2012,,*56
 $GPGGA,051143.000,4744.6982,N,12206.7290,W,1,05,1.9,138.2,M,-17.1,M,18.8,0000*71
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:43.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112150000,"alt":138.200,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:43.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112150000,"alt":138.200,"epv":41.400,"speed":0.125,"climb":0.200,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051144.000,04,07,2012,,*51
 $GPGGA,051144.000,4744.6982,N,12206.7292,W,1,05,1.9,138.8,M,-17.1,M,18.8,0000*7E
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:44.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112153333,"alt":138.800,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:44.000Z","ept":0.005,"lat":47.744970000,"lon":-122.112153333,"alt":138.800,"epv":41.400,"speed":0.250,"climb":0.600,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051145.000,04,07,2012,,*50
 $GPGGA,051145.000,4744.6983,N,12206.7293,W,1,05,1.9,138.8,M,-17.1,M,18.8,0000*7F
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:45.000Z","ept":0.005,"lat":47.744971667,"lon":-122.112155000,"alt":138.800,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:45.000Z","ept":0.005,"lat":47.744971667,"lon":-122.112155000,"alt":138.800,"epv":41.400,"speed":0.224,"climb":0.000,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051146.000,04,07,2012,,*53
 $GPGGA,051146.000,4744.6984,N,12206.7294,W,1,05,1.9,138.8,M,-17.1,M,18.8,0000*7C
-{"class":"TPV","mode":3,"time":"2012-07-04T05:11:46.000Z","ept":0.005,"lat":47.744973333,"lon":-122.112156667,"alt":138.800,"epv":41.400,"speed":0.000,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2012-07-04T05:11:46.000Z","ept":0.005,"lat":47.744973333,"lon":-122.112156667,"alt":138.800,"epv":41.400,"speed":0.224,"climb":0.000,"epc":82.80}
 $GPGSA,A,3,12,25,21,29,30,,,,,,,,2.6,1.9,1.8*38
 $GPZDA,051147.000,04,07,2012,,*52
diff --git a/test/daemon/mtk-3301.log.chk b/test/daemon/mtk-3301.log.chk
index 72b281e8..48d6997b 100644
--- a/test/daemon/mtk-3301.log.chk
+++ b/test/daemon/mtk-3301.log.chk
@@ -40,7 +40,7 @@ $GPRMC,081434.590,V,5212.978993,N,00653.097906,E,0.052,0.00,230808,,,N*46
 $PMTKCHN,21422,28522,26482,25452,07442,08502,27482,10442,15452,03392,19392,18031,06031,22252,14001,29001,23001,02001,11001,16001,05001,20001,09001,13001,30001,04001,01001,24001,31001,17001,12001,32001*45
 $GPVTG,0.00,T,,M,0.052,N,0.097,K,N*3B
 $GPGGA,081436.000,5212.982135,N,00653.101394,E,1,3,2.88,102.907,M,47.093,M,,*5F
-{"class":"TPV","mode":3,"lat":52.216368917,"lon":6.885023233,"alt":102.907}
+{"class":"TPV","mode":0}
 $GPRMC,081436.000,A,5212.982135,N,00653.101394,E,0.039,0.00,230808,,,A*53
 {"class":"TPV","mode":3,"time":"2008-08-23T08:14:36.000Z","ept":0.005,"lat":52.216368917,"lon":6.885023233,"alt":102.907,"track":0.0000,"speed":0.020}
 $PMTKCHN,21422,28522,26482,25452,07442,08502,27482,10442,15452,03392,19392,13031,06031,09272,14001,29001,23001,02001,11001,16001,05001,20001,22001,18001,30001,04001,01001,24001,31001,17001,12001,32001*47
diff --git a/test/daemon/mtk-3329.log.chk b/test/daemon/mtk-3329.log.chk
index ff41243f..8bcad802 100644
--- a/test/daemon/mtk-3329.log.chk
+++ b/test/daemon/mtk-3329.log.chk
@@ -10,7 +10,7 @@ $GPGSV,3,3,10,28,13,265,,31,08,100,*7A
 {"class":"SKY","xdop":1.20,"ydop":0.90,"vdop":0.95,"tdop":1.54,"hdop":1.31,"gdop":3.73,"pdop":1.62,"satellites":[{"PRN":32,"el":86,"az":204,"ss":0,"used":false,"gnssid":0,"svid":32},{"PRN":24,"el":84,"az":113,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":11,"el":73,"az":162,"ss":0,"used":false,"gnssid":0,"svid":11},{"PRN":20,"el":54,"az":245,"ss":16,"used":true,"gnssid":0,"svid":20},{"PRN":17,"el":32,"az":308,"ss":33,"used":true,"gnssid":0,"svid":17},{"PRN":14,"el":27,"az":45,"ss":31,"used":true,"gnssid":0,"svid":14},{"PRN":19,"el":15,"az":167,"ss":0,"used":false,"gnssid":0,"svid":19},{"PRN":23,"el":14,"az":188,"ss":25,"used":true,"gnssid":0,"svid":23},{"PRN":28,"el":13,"az":265,"ss":0,"used":false,"gnssid":0,"svid":28},{"PRN":31,"el":8,"az":100,"ss":0,"used":false,"gnssid":0,"svid":31}]}
 $PMTK001,604,1*30
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diff --git a/test/daemon/nl551e.log.chk b/test/daemon/nl551e.log.chk
index c2296dc6..0dc6aff0 100644
--- a/test/daemon/nl551e.log.chk
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@@ -126,7 +126,7 @@ $GPGSV,2,1,07,03,54,286,37,07,18,316,36,16,68,221,36,18,43,111,40*7E
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 {"class":"SKY","xdop":0.99,"ydop":1.06,"vdop":1.80,"tdop":1.18,"hdop":1.45,"gdop":2.59,"pdop":2.32,"satellites":[{"PRN":3,"el":54,"az":286,"ss":37,"used":true,"gnssid":0,"svid":3},{"PRN":7,"el":18,"az":316,"ss":36,"used":true,"gnssid":0,"svid":7},{"PRN":16,"el":68,"az":221,"ss":36,"used":true,"gnssid":0,"svid":16},{"PRN":18,"el":43,"az":111,"ss":40,"used":true,"gnssid":0,"svid":18},{"PRN":19,"el":22,"az":279,"ss":39,"used":true,"gnssid":0,"svid":19},{"PRN":22,"el":24,"az":159,"ss":38,"used":true,"gnssid":0,"svid":22},{"PRN":30,"el":43,"az":182,"ss":42,"used":true,"gnssid":0,"svid":30}]}
 $GPGLL,5200.17100,N,00602.17451,E,191443.00,A,A*61
-{"class":"TPV","mode":3,"time":"2012-07-04T19:14:43.000Z","ept":0.005,"lat":52.002850000,"lon":6.036241833,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.005,"climb":0.000,"eps":31.90}
+{"class":"TPV","mode":3,"time":"2012-07-04T19:14:43.000Z","ept":0.005,"lat":52.002850000,"lon":6.036241833,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.005,"climb":0.000,"eps":31.90,"epc":82.80}
 $GPRMC,191444.00,A,5200.17105,N,00602.17454,E,0.011,,040712,,,A*7F
 $GPVTG,,T,,M,0.011,N,0.020,K,A*21
 $GPGGA,191444.00,5200.17105,N,00602.17454,E,1,07,1.45,21.2,M,46.1,M,,*66
@@ -135,7 +135,7 @@ $GPGSV,2,1,07,03,54,286,37,07,18,316,36,16,68,221,36,18,43,111,39*70
 $GPGSV,2,2,07,19,22,279,39,22,24,159,38,30,43,182,42*49
 {"class":"SKY","xdop":0.99,"ydop":1.06,"vdop":1.80,"tdop":1.18,"hdop":1.45,"gdop":2.59,"pdop":2.32,"satellites":[{"PRN":3,"el":54,"az":286,"ss":37,"used":true,"gnssid":0,"svid":3},{"PRN":7,"el":18,"az":316,"ss":36,"used":true,"gnssid":0,"svid":7},{"PRN":16,"el":68,"az":221,"ss":36,"used":true,"gnssid":0,"svid":16},{"PRN":18,"el":43,"az":111,"ss":39,"used":true,"gnssid":0,"svid":18},{"PRN":19,"el":22,"az":279,"ss":39,"used":true,"gnssid":0,"svid":19},{"PRN":22,"el":24,"az":159,"ss":38,"used":true,"gnssid":0,"svid":22},{"PRN":30,"el":43,"az":182,"ss":42,"used":true,"gnssid":0,"svid":30}]}
 $GPGLL,5200.17105,N,00602.17454,E,191444.00,A,A*66
-{"class":"TPV","mode":3,"time":"2012-07-04T19:14:44.000Z","ept":0.005,"lat":52.002850833,"lon":6.036242333,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.006,"climb":0.000,"eps":31.90}
+{"class":"TPV","mode":3,"time":"2012-07-04T19:14:44.000Z","ept":0.005,"lat":52.002850833,"lon":6.036242333,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.006,"climb":0.000,"eps":31.90,"epc":82.80}
 $GPRMC,191445.00,A,5200.17109,N,00602.17462,E,0.010,,040712,,,A*76
 $GPVTG,,T,,M,0.010,N,0.019,K,A*2A
 $GPGGA,191445.00,5200.17109,N,00602.17462,E,1,07,1.45,21.2,M,46.1,M,,*6E
@@ -144,7 +144,7 @@ $GPGSV,2,1,07,03,54,286,37,07,18,316,35,16,68,221,36,18,43,111,39*73
 $GPGSV,2,2,07,19,22,279,39,22,24,159,38,30,43,182,42*49
 {"class":"SKY","xdop":0.99,"ydop":1.06,"vdop":1.80,"tdop":1.18,"hdop":1.45,"gdop":2.59,"pdop":2.32,"satellites":[{"PRN":3,"el":54,"az":286,"ss":37,"used":true,"gnssid":0,"svid":3},{"PRN":7,"el":18,"az":316,"ss":35,"used":true,"gnssid":0,"svid":7},{"PRN":16,"el":68,"az":221,"ss":36,"used":true,"gnssid":0,"svid":16},{"PRN":18,"el":43,"az":111,"ss":39,"used":true,"gnssid":0,"svid":18},{"PRN":19,"el":22,"az":279,"ss":39,"used":true,"gnssid":0,"svid":19},{"PRN":22,"el":24,"az":159,"ss":38,"used":true,"gnssid":0,"svid":22},{"PRN":30,"el":43,"az":182,"ss":42,"used":true,"gnssid":0,"svid":30}]}
 $GPGLL,5200.17109,N,00602.17462,E,191445.00,A,A*6E
-{"class":"TPV","mode":3,"time":"2012-07-04T19:14:45.000Z","ept":0.005,"lat":52.002851500,"lon":6.036243667,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.005,"climb":0.000,"eps":31.90}
+{"class":"TPV","mode":3,"time":"2012-07-04T19:14:45.000Z","ept":0.005,"lat":52.002851500,"lon":6.036243667,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.005,"climb":0.000,"eps":31.90,"epc":82.80}
 $GPRMC,191446.00,A,5200.17115,N,00602.17470,E,0.009,,040712,,,A*73
 $GPVTG,,T,,M,0.009,N,0.016,K,A*2D
 $GPGGA,191446.00,5200.17115,N,00602.17470,E,1,07,1.45,21.2,M,46.1,M,,*63
@@ -153,4 +153,4 @@ $GPGSV,2,1,07,03,54,286,37,07,18,316,35,16,68,221,36,18,43,111,39*73
 $GPGSV,2,2,07,19,22,279,39,22,24,159,38,30,43,182,42*49
 {"class":"SKY","xdop":0.99,"ydop":1.06,"vdop":1.80,"tdop":1.18,"hdop":1.45,"gdop":2.59,"pdop":2.32,"satellites":[{"PRN":3,"el":54,"az":286,"ss":37,"used":true,"gnssid":0,"svid":3},{"PRN":7,"el":18,"az":316,"ss":35,"used":true,"gnssid":0,"svid":7},{"PRN":16,"el":68,"az":221,"ss":36,"used":true,"gnssid":0,"svid":16},{"PRN":18,"el":43,"az":111,"ss":39,"used":true,"gnssid":0,"svid":18},{"PRN":19,"el":22,"az":279,"ss":39,"used":true,"gnssid":0,"svid":19},{"PRN":22,"el":24,"az":159,"ss":38,"used":true,"gnssid":0,"svid":22},{"PRN":30,"el":43,"az":182,"ss":42,"used":true,"gnssid":0,"svid":30}]}
 $GPGLL,5200.17115,N,00602.17470,E,191446.00,A,A*63
-{"class":"TPV","mode":3,"time":"2012-07-04T19:14:46.000Z","ept":0.005,"lat":52.002852500,"lon":6.036245000,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.005,"climb":0.000,"eps":31.90}
+{"class":"TPV","mode":3,"time":"2012-07-04T19:14:46.000Z","ept":0.005,"lat":52.002852500,"lon":6.036245000,"alt":21.200,"epx":14.920,"epy":15.950,"epv":41.400,"track":0.0000,"speed":0.005,"climb":0.000,"eps":31.90,"epc":82.80}
diff --git a/test/daemon/oncore.log.chk b/test/daemon/oncore.log.chk
index d9de82ba..dcafb98b 100644
--- a/test/daemon/oncore.log.chk
+++ b/test/daemon/oncore.log.chk
@@ -12,7 +12,7 @@ $GPGSV,3,2,09,16,22,059,,20,21,131,,23,54,074,,24,23,195,*71
 $GPGSV,3,3,09,27,39,195,13,,,,,,,,,,,,*40
 {"class":"SKY","hdop":5.30,"satellites":[{"PRN":2,"el":33,"az":299,"ss":27,"used":true,"gnssid":0,"svid":2},{"PRN":4,"el":43,"az":242,"ss":26,"used":true,"gnssid":0,"svid":4},{"PRN":8,"el":12,"az":202,"ss":0,"used":false,"gnssid":0,"svid":8},{"PRN":13,"el":85,"az":356,"ss":0,"used":false,"gnssid":0,"svid":13},{"PRN":16,"el":22,"az":59,"ss":0,"used":false,"gnssid":0,"svid":16},{"PRN":20,"el":21,"az":131,"ss":0,"used":false,"gnssid":0,"svid":20},{"PRN":23,"el":54,"az":74,"ss":0,"used":false,"gnssid":0,"svid":23},{"PRN":24,"el":23,"az":195,"ss":0,"used":false,"gnssid":0,"svid":24},{"PRN":27,"el":39,"az":195,"ss":13,"used":true,"gnssid":0,"svid":27}]}
 $GPRMC,171245.00,A,5209.7838,N,02048.4819,E,0.3,41.9,080405,3.5,E*6C
-{"class":"TPV","mode":3,"time":"2005-04-08T17:12:45.000Z","ept":0.005,"lat":52.163063333,"lon":20.808031667,"alt":76.600,"track":41.9000,"speed":0.154,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2005-04-08T17:12:45.000Z","ept":0.005,"lat":52.163063333,"lon":20.808031667,"alt":76.600,"track":41.9000,"speed":0.154}
 $GPGGA,171246.00,5209.7839,N,02048.4824,E,1,03,5.3,76.6,M,36.5,M,,*56
 $GPGLL,5209.7839,N,02048.4824,E,171246.00,A*0C
 $GPGSA,A,2,02,04,27,,,,,,,,,,,5.3,*36
diff --git a/test/daemon/pharos-360.log.chk b/test/daemon/pharos-360.log.chk
index a95c1927..ca66f00a 100644
--- a/test/daemon/pharos-360.log.chk
+++ b/test/daemon/pharos-360.log.chk
@@ -1,12 +1,12 @@
 $GPGSA,A,3,28,11,26,29,,,,,,,,,12.9,12.5,3.1*39
 {"class":"TPV","mode":3,"epv":71.300}
 $GPRMC,021612.949,A,5029.3800,N,10441.0390,W,0.039560,189.06,280706,,*18
-{"class":"TPV","mode":2,"time":"2006-07-28T02:16:12.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683983333,"track":189.0600,"speed":0.020}
+{"class":"TPV","mode":3,"time":"2006-07-28T02:16:12.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683983333,"epv":71.300,"track":189.0600,"speed":0.020}
 $GPGGA,021613.949,5029.3800,N,10441.0389,W,1,04,12.5,572.4,M,-20.3,M,0.0,0000*7E
 $GPGLL,5029.3800,N,10441.0389,W,021613.949,A*22
 $GPGSA,A,3,28,11,26,29,,,,,,,,,12.9,12.5,3.1*39
 $GPRMC,021613.949,A,5029.3800,N,10441.0389,W,0.009850,267.99,280706,,*19
-{"class":"TPV","mode":3,"time":"2006-07-28T02:16:13.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683981667,"alt":572.400,"epv":71.300,"track":267.9900,"speed":0.005,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2006-07-28T02:16:13.949Z","ept":0.005,"lat":50.489666667,"lon":-104.683981667,"alt":572.400,"epv":71.300,"track":267.9900,"speed":0.005,"epc":142.60}
 $GPGGA,021614.949,5029.3800,N,10441.0388,W,1,04,12.5,572.3,M,-20.3,M,0.0,0000*7F
 $GPGLL,5029.3800,N,10441.0388,W,021614.949,A*24
 $GPGSA,A,3,28,11,26,29,,,,,,,,,12.9,12.5,3.1*39
diff --git a/test/daemon/rgm3800.log.chk b/test/daemon/rgm3800.log.chk
index 716c3eed..31b4b4b2 100644
--- a/test/daemon/rgm3800.log.chk
+++ b/test/daemon/rgm3800.log.chk
@@ -13,8 +13,9 @@ $GPGSV,3,2,12,19,00,000,,07,00,000,,04,00,000,,24,00,000,*76
 $GPGSV,3,3,12,16,00,000,,28,00,000,,26,00,000,,29,00,000,*78
 $GPRMC,235952.953,V,0000.0000,N,00000.0000,E,,0.00,050180,,,N*61
 $GPGGA,102523.342,4815.6883,N,01140.3675,E,1,03,4.1,-47.5,M,47.5,M,,0000*4B
-{"class":"TPV","mode":3,"lat":48.261471667,"lon":11.672791667,"alt":-47.500}
+{"class":"TPV","mode":0}
 $GPGSA,A,2,09,18,15,,,,,,,,,,4.2,4.1,1.0*35
+{"class":"TPV","mode":2,"lat":48.261471667,"lon":11.672791667,"alt":-47.500}
 $GPGSV,3,1,11,15,78,236,41,09,30,277,44,18,26,303,36,22,04,332,34*73
 $GPGSV,3,2,11,26,64,298,,29,53,146,,28,45,057,25,17,28,119,22*78
 $GPGSV,3,3,11,08,13,081,27,12,06,219,22,10,05,190,21*4F
diff --git a/test/daemon/rx210.log.chk b/test/daemon/rx210.log.chk
index cfdc7411..7eacff1c 100644
--- a/test/daemon/rx210.log.chk
+++ b/test/daemon/rx210.log.chk
@@ -69,49 +69,49 @@ $GNGSA,A,1,31,21,,,,,,,,,,,53.32,28.64,44.97*2E
 $GNGSA,A,1,75,86,,,,,,,,,,,53.32,28.64,44.97*23
 {"class":"TPV","mode":1}
 $GNRMC,184102.00,A,5000.14318,N,00838.63715,E,0.419,,030416,,,A*63
-{"class":"TPV","mode":2,"time":"2016-04-03T18:41:02.000Z","ept":0.005,"lat":50.002386333,"lon":8.643952500,"track":0.0000,"speed":0.216}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:02.000Z","ept":0.005,"lat":50.002386333,"lon":8.643952500,"epv":1034.310,"track":0.0000,"speed":0.216}
 $GNGGA,184102.00,5000.14318,N,00838.63715,E,1,05,3.62,159.6,M,47.6,M,,*4F
 {"class":"TPV","mode":3,"time":"2016-04-03T18:41:02.000Z","ept":0.005,"lat":50.002386333,"lon":8.643952500,"alt":159.600,"epv":1034.310,"track":0.0000,"speed":0.216}
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 $GNGGA,184103.00,5000.14112,N,00838.63658,E,1,05,3.62,165.8,M,47.6,M,,*4F
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:03.000Z","ept":0.005,"lat":50.002352000,"lon":8.643943000,"alt":165.800,"epv":1034.310,"track":0.0000,"speed":0.218}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:03.000Z","ept":0.005,"lat":50.002352000,"lon":8.643943000,"alt":165.800,"epv":1034.310,"track":0.0000,"speed":0.218,"climb":6.200,"epc":2068.62}
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 $GNGGA,184104.00,5000.14035,N,00838.63648,E,1,05,3.62,167.8,M,47.6,M,,*4F
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:04.000Z","ept":0.005,"lat":50.002339167,"lon":8.643941333,"alt":167.800,"epv":1034.310,"track":0.0000,"speed":0.355}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:04.000Z","ept":0.005,"lat":50.002339167,"lon":8.643941333,"alt":167.800,"epv":1034.310,"track":0.0000,"speed":0.355,"climb":2.000,"epc":2068.62}
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 $GNGGA,184105.00,5000.14005,N,00838.63363,E,1,06,2.55,162.8,M,47.6,M,,*42
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:05.000Z","ept":0.005,"lat":50.002334167,"lon":8.643893833,"alt":162.800,"epv":1034.310,"track":0.0000,"speed":0.066}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:05.000Z","ept":0.005,"lat":50.002334167,"lon":8.643893833,"alt":162.800,"epv":1034.310,"track":0.0000,"speed":0.066,"climb":-5.000,"epc":2068.62}
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 $GNGGA,184106.00,5000.13939,N,00838.63172,E,1,06,2.55,160.6,M,47.6,M,,*4E
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:06.000Z","ept":0.005,"lat":50.002323167,"lon":8.643862000,"alt":160.600,"epv":1034.310,"track":0.0000,"speed":0.019}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:06.000Z","ept":0.005,"lat":50.002323167,"lon":8.643862000,"alt":160.600,"epv":1034.310,"track":0.0000,"speed":0.019,"climb":-2.200,"epc":2068.62}
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 $GNGSA,A,3,75,86,87,,,,,,,,,,3.76,2.55,2.76*1C
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 $GNGGA,184107.00,5000.13878,N,00838.62990,E,1,06,2.55,158.0,M,47.6,M,,*43
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:07.000Z","ept":0.005,"lat":50.002313000,"lon":8.643831667,"alt":158.000,"epv":63.480,"track":0.0000,"speed":0.182}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:07.000Z","ept":0.005,"lat":50.002313000,"lon":8.643831667,"alt":158.000,"epv":63.480,"track":0.0000,"speed":0.182,"climb":-2.600,"epc":1097.79}
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-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:08.000Z","ept":0.005,"lat":50.002304167,"lon":8.643815333,"alt":156.800,"epv":63.480,"track":0.0000,"speed":0.188}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:08.000Z","ept":0.005,"lat":50.002304167,"lon":8.643815333,"alt":156.800,"epv":63.480,"track":0.0000,"speed":0.188,"climb":-1.200,"epc":126.96}
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-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:09.000Z","ept":0.005,"lat":50.002300833,"lon":8.643809833,"alt":155.400,"epv":63.480,"track":0.0000,"speed":0.120}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:09.000Z","ept":0.005,"lat":50.002300833,"lon":8.643809833,"alt":155.400,"epv":63.480,"track":0.0000,"speed":0.120,"climb":-1.400,"epc":126.96}
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-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:10.000Z","ept":0.005,"lat":50.002297000,"lon":8.643809167,"alt":154.700,"epv":63.480,"track":0.0000,"speed":0.096}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:10.000Z","ept":0.005,"lat":50.002297000,"lon":8.643809167,"alt":154.700,"epv":63.480,"track":0.0000,"speed":0.096,"climb":-0.700,"epc":126.96}
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-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:11.000Z","ept":0.005,"lat":50.002295000,"lon":8.643812167,"alt":153.800,"epv":63.480,"track":0.0000,"speed":0.012}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:11.000Z","ept":0.005,"lat":50.002295000,"lon":8.643812167,"alt":153.800,"epv":63.480,"track":0.0000,"speed":0.012,"climb":-0.900,"epc":126.96}
 $GNGSA,A,3,31,26,21,,,,,,,,,,3.76,2.55,2.76*1A
 $GNGSA,A,3,75,86,87,,,,,,,,,,3.76,2.55,2.76*1C
 $GNRMC,184112.00,A,5000.13761,N,00838.62883,E,0.048,,030416,,,A*6E
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 $GNGGA,184136.00,5000.14058,N,00838.63622,E,1,06,2.55,134.6,M,47.6,M,,*47
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:36.000Z","ept":0.005,"lat":50.002343000,"lon":8.643937000,"alt":134.600,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.079,"eps":56.77}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:36.000Z","ept":0.005,"lat":50.002343000,"lon":8.643937000,"alt":134.600,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.079,"climb":0.000,"eps":56.77,"epc":127.42}
 $GNGSA,A,3,31,26,21,,,,,,,,,,3.77,2.55,2.77*1A
 $GNGSA,A,3,75,86,87,,,,,,,,,,3.77,2.55,2.77*1C
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 $GNGGA,184137.00,5000.14079,N,00838.63649,E,1,06,2.55,134.1,M,47.6,M,,*4F
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:37.000Z","ept":0.005,"lat":50.002346500,"lon":8.643941500,"alt":134.100,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.109,"eps":56.77}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:37.000Z","ept":0.005,"lat":50.002346500,"lon":8.643941500,"alt":134.100,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.109,"climb":-0.500,"eps":56.77,"epc":127.42}
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 $GNGGA,184138.00,5000.14084,N,00838.63649,E,1,06,2.55,133.8,M,47.6,M,,*4C
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:38.000Z","ept":0.005,"lat":50.002347333,"lon":8.643941500,"alt":133.800,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.044,"eps":56.77}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:38.000Z","ept":0.005,"lat":50.002347333,"lon":8.643941500,"alt":133.800,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.044,"climb":-0.300,"eps":56.77,"epc":127.42}
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 $GNGGA,184139.00,5000.14104,N,00838.63677,E,1,06,2.55,133.3,M,47.6,M,,*42
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:39.000Z","ept":0.005,"lat":50.002350667,"lon":8.643946167,"alt":133.300,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.117,"eps":56.77}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:39.000Z","ept":0.005,"lat":50.002350667,"lon":8.643946167,"alt":133.300,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.117,"climb":-0.500,"eps":56.77,"epc":127.42}
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 $GNGGA,184140.00,5000.14154,N,00838.63731,E,1,06,2.55,132.2,M,47.6,M,,*4A
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:40.000Z","ept":0.005,"lat":50.002359000,"lon":8.643955167,"alt":132.200,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.052,"eps":56.77}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:40.000Z","ept":0.005,"lat":50.002359000,"lon":8.643955167,"alt":132.200,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.052,"climb":-1.100,"eps":56.77,"epc":127.42}
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 $GNGGA,184141.00,5000.14178,N,00838.63752,E,1,06,2.55,131.7,M,47.6,M,,*46
-{"class":"TPV","mode":3,"time":"2016-04-03T18:41:41.000Z","ept":0.005,"lat":50.002363000,"lon":8.643958667,"alt":131.700,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.059,"eps":56.77}
+{"class":"TPV","mode":3,"time":"2016-04-03T18:41:41.000Z","ept":0.005,"lat":50.002363000,"lon":8.643958667,"alt":131.700,"epx":28.386,"epy":26.062,"epv":63.710,"track":0.0000,"speed":0.059,"climb":-0.500,"eps":56.77,"epc":127.42}
 $GNGSA,A,3,31,26,21,,,,,,,,,,3.77,2.55,2.78*15
 $GNGSA,A,3,75,86,87,,,,,,,,,,3.77,2.55,2.78*13
diff --git a/test/daemon/saab-r4.log.chk b/test/daemon/saab-r4.log.chk
index c2b6a49b..bff1d1d7 100644
--- a/test/daemon/saab-r4.log.chk
+++ b/test/daemon/saab-r4.log.chk
@@ -7,7 +7,7 @@ $GPZDA,130711,01,06,2011,01,00*49
 $GPGLL,5012.790800,N,00806.879600,W,130711,A,D*5B
 {"class":"TPV","status":2,"mode":2,"time":"2011-06-01T13:07:11.000Z","ept":0.005,"lat":50.213180000,"lon":-8.114660000}
 $GPGGA,130711,5012.790800,N,00806.879600,W,2,,,,,,,*6A
-{"class":"TPV","status":2,"mode":2,"time":"2011-06-01T13:07:11.000Z","ept":0.005,"lat":50.213180000,"lon":-8.114660000,"speed":0.000}
+{"class":"TPV","status":2,"mode":2,"time":"2011-06-01T13:07:11.000Z","ept":0.005,"lat":50.213180000,"lon":-8.114660000}
 $GPVTG,3.0,T,,,0.50,N,,,D*16
 $GPRMC,130711.00,A,5012.790800,N,00806.879600,W,0.5,3.0,010611,,A*6A
 {"class":"TPV","status":2,"mode":2,"time":"2011-06-01T13:07:11.000Z","ept":0.005,"lat":50.213180000,"lon":-8.114660000,"track":3.0000,"speed":0.257}
diff --git a/test/daemon/sirfstarv.log.chk b/test/daemon/sirfstarv.log.chk
index a01c94a5..c112c10b 100644
--- a/test/daemon/sirfstarv.log.chk
+++ b/test/daemon/sirfstarv.log.chk
@@ -21,8 +21,7 @@ $GPZDA,215302.00,06,01,2019,00,00*6C
 $GPGGA,215302,4821.5195,N,00958.8959,E,0,00,0.80,493.56,M,,,*30
 $GPRMC,215302,V,4821.5195,N,00958.8959,E,0.0972,264.910,060119,,*38
 $GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
-$GPGBS,215302,7.83,M,10.86,M,27.60,M*39
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:02.000Z","leapseconds":18,"ept":0.005,"lat":48.358658400,"lon":9.981597800,"alt":493.560,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.050,"climb":0.070,"eps":0.57,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:02.000Z","leapseconds":18,"ept":0.005,"lat":48.358658400,"lon":9.981597800,"alt":493.560,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.050,"climb":0.070,"eps":0.57,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,29,23,04,329,17,82,15,226,00,87,11,042,22*7C
@@ -34,8 +33,7 @@ $GPZDA,215303.00,06,01,2019,00,00*6D
 $GPGGA,215303,4821.5195,N,00958.8958,E,0,00,0.80,493.66,M,,,*33
 $GPRMC,215303,V,4821.5195,N,00958.8958,E,0.0000,264.910,060119,,*34
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-$GPGBS,215303,7.83,M,10.86,M,27.60,M*38
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:03.000Z","leapseconds":18,"ept":0.005,"lat":48.358658000,"lon":9.981597200,"alt":493.660,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.05,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:03.000Z","leapseconds":18,"ept":0.005,"lat":48.358658000,"lon":9.981597200,"alt":493.660,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.05,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,28,23,04,329,16,82,15,226,00,87,11,042,22*7C
@@ -48,7 +46,7 @@ $GPGGA,215304,4821.5195,N,00958.8958,E,0,00,0.80,493.74,M,,,*37
 $GPRMC,215304,V,4821.5195,N,00958.8958,E,0.0000,264.910,060119,,*33
 $GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
 $GPGBS,215304,7.83,M,10.86,M,27.60,M*3F
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:04.000Z","leapseconds":18,"ept":0.005,"lat":48.358657700,"lon":9.981596500,"alt":493.740,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.04,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:04.000Z","leapseconds":18,"ept":0.005,"lat":48.358657700,"lon":9.981596500,"alt":493.740,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.04,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,28,23,04,329,16,82,15,226,00,87,11,042,22*7C
@@ -60,8 +58,7 @@ $GPZDA,215305.00,06,01,2019,00,00*6B
 $GPGGA,215305,4821.5194,N,00958.8958,E,0,00,0.80,493.82,M,,,*3E
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 $GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
-$GPGBS,215305,7.83,M,10.86,M,27.60,M*3E
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:05.000Z","leapseconds":18,"ept":0.005,"lat":48.358657500,"lon":9.981595900,"alt":493.820,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.03,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:05.000Z","leapseconds":18,"ept":0.005,"lat":48.358657500,"lon":9.981595900,"alt":493.820,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.03,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,25,23,04,329,16,82,15,226,00,87,11,042,22*71
@@ -73,8 +70,7 @@ $GPZDA,215306.00,06,01,2019,00,00*68
 $GPGGA,215306,4821.5194,N,00958.8957,E,0,00,0.80,493.90,M,,,*31
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 $GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
-$GPGBS,215306,7.83,M,10.86,M,27.60,M*3D
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:06.000Z","leapseconds":18,"ept":0.005,"lat":48.358657200,"lon":9.981595300,"alt":493.900,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:06.000Z","leapseconds":18,"ept":0.005,"lat":48.358657200,"lon":9.981595300,"alt":493.900,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,23,23,04,329,16,82,15,226,00,87,11,042,22*77
@@ -87,7 +83,7 @@ $GPGGA,215307,4821.5194,N,00958.8957,E,0,00,0.80,493.97,M,,,*37
 $GPRMC,215307,V,4821.5194,N,00958.8957,E,0.0000,264.910,060119,,*3E
 $GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
 $GPGBS,215307,7.83,M,10.86,M,27.60,M*3C
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:07.000Z","leapseconds":18,"ept":0.005,"lat":48.358657000,"lon":9.981594800,"alt":493.970,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.01,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:07.000Z","leapseconds":18,"ept":0.005,"lat":48.358657000,"lon":9.981594800,"alt":493.970,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.01,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,23,23,04,329,16,82,15,226,00,87,11,042,22*77
@@ -99,8 +95,7 @@ $GPZDA,215308.00,06,01,2019,00,00*66
 $GPGGA,215308,4821.5194,N,00958.8957,E,0,00,0.80,494.03,M,,,*32
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-$GPGBS,215308,7.83,M,10.86,M,27.60,M*33
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:08.000Z","leapseconds":18,"ept":0.005,"lat":48.358656800,"lon":9.981594300,"alt":494.030,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.01,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:08.000Z","leapseconds":18,"ept":0.005,"lat":48.358656800,"lon":9.981594300,"alt":494.030,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.01,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,23,23,04,329,16,82,15,226,00,87,11,042,22*77
@@ -112,8 +107,7 @@ $GPZDA,215309.00,06,01,2019,00,00*67
 $GPGGA,215309,4821.5194,N,00958.8956,E,0,00,0.80,494.09,M,,,*38
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-$GPGBS,215309,7.83,M,10.86,M,27.60,M*32
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:09.000Z","leapseconds":18,"ept":0.005,"lat":48.358656600,"lon":9.981593900,"alt":494.090,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:09.000Z","leapseconds":18,"ept":0.005,"lat":48.358656600,"lon":9.981593900,"alt":494.090,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":55.20}
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 $GPGSV,6,3,23,12,06,115,24,23,04,329,16,82,15,226,13,87,11,042,22*72
@@ -126,7 +120,7 @@ $GPGGA,215310,4821.5194,N,00958.8956,E,0,00,0.80,494.14,M,,,*3C
 $GPRMC,215310,V,4821.5194,N,00958.8956,E,0.0000,264.910,060119,,*39
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 $GPGBS,215310,7.83,M,10.86,M,27.60,M*3A
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:10.000Z","leapseconds":18,"ept":0.005,"lat":48.358656500,"lon":9.981593500,"alt":494.140,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":27.60}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:10.000Z","leapseconds":18,"ept":0.005,"lat":48.358656500,"lon":9.981593500,"alt":494.140,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":55.20}
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@@ -138,8 +132,7 @@ $GPZDA,215311.00,06,01,2019,00,00*6E
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diff --git a/test/daemon/skytraq-bin.log.chk b/test/daemon/skytraq-bin.log.chk
index f98306eb..99bf645c 100644
--- a/test/daemon/skytraq-bin.log.chk
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diff --git a/test/daemon/sl869.log.chk b/test/daemon/sl869.log.chk
index da35cf25..9476eb2e 100644
--- a/test/daemon/sl869.log.chk
+++ b/test/daemon/sl869.log.chk
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 $PGRME,17.4,M,40.3,M,43.9,M*15
 $GPGLL,3348.607,N,11821.124,W,230153,A*3F
-{"class":"TPV","mode":3,"time":"2002-10-26T23:01:53.000Z","ept":0.005,"lat":33.810116667,"lon":-118.352066667,"alt":49.100,"epx":25.546,"epy":25.546,"epv":83.674,"speed":0.000,"climb":0.000,"eps":36.36}
+{"class":"TPV","mode":3,"time":"2002-10-26T23:01:53.000Z","ept":0.005,"lat":33.810116667,"lon":-118.352066667,"alt":49.100,"epx":25.546,"epy":25.546,"epv":83.674,"speed":0.000,"eps":36.36,"epc":174.80}
 $PGRMZ,161,f,3*1D
 $PGRMM,NAD83*29
 $GPBOD,,T,,M,,*47
 $GPRTE,1,1,c,0*07
 $GPRMC,230154,A,3348.607,N,11821.124,W,000.0,209.4,261002,013.8,E*66
-{"class":"TPV","mode":2,"time":"2002-10-26T23:01:54.000Z","ept":0.005,"lat":33.810116667,"lon":-118.352066667,"track":209.4000,"speed":0.000}
+{"class":"TPV","mode":3,"time":"2002-10-26T23:01:54.000Z","ept":0.005,"lat":33.810116667,"lon":-118.352066667,"epv":87.400,"track":209.4000,"speed":0.000,"epc":171.07}
 $GPRMB,A,,,,,,,,,,,,V*71
 $GPGGA,230155,3348.608,N,11821.124,W,1,02,1.9,49.0,M,-32.4,M,,*41
 $GPGSA,A,3,07,08,,,27,28,,,,,,,1.9,1.9,1.0*33
@@ -52,7 +52,7 @@ $GPGSV,2,2,08,27,48,103,46,28,66,323,43,29,33,306,44,31,10,040,00*7E
 {"class":"SKY","xdop":1.49,"ydop":4.03,"vdop":1.00,"tdop":12.53,"hdop":1.90,"gdop":19.87,"pdop":1.90,"satellites":[{"PRN":7,"el":43,"az":197,"ss":45,"used":true,"gnssid":0,"svid":7},{"PRN":8,"el":68,"az":62,"ss":43,"used":true,"gnssid":0,"svid":8},{"PRN":11,"el":18,"az":89,"ss":0,"used":false,"gnssid":0,"svid":11},{"PRN":26,"el":24,"az":314,"ss":41,"used":false,"gnssid":0,"svid":26},{"PRN":27,"el":48,"az":103,"ss":46,"used":true,"gnssid":0,"svid":27},{"PRN":28,"el":66,"az":323,"ss":43,"used":true,"gnssid":0,"svid":28},{"PRN":29,"el":33,"az":306,"ss":44,"used":false,"gnssid":0,"svid":29},{"PRN":31,"el":10,"az":40,"ss":0,"used":false,"gnssid":0,"svid":31}]}
 $PGRME,19.2,M,150.0,M,151.2,M*17
 $GPGLL,3348.608,N,11821.124,W,230155,A*36
-{"class":"TPV","mode":3,"time":"2002-10-26T23:01:55.000Z","ept":0.005,"lat":33.810133333,"lon":-118.352066667,"alt":49.000,"epx":28.188,"epy":28.188,"epv":311.441,"speed":1.849,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2002-10-26T23:01:55.000Z","ept":0.005,"lat":33.810133333,"lon":-118.352066667,"alt":49.000,"epx":28.188,"epy":28.188,"epv":311.441,"speed":1.849,"epc":110.40}
 $PGRMZ,161,f,3*1D
 $PGRMM,NAD83*29
 $GPBOD,,T,,M,,*47
diff --git a/test/daemon/tomtom-mkII.log.chk b/test/daemon/tomtom-mkII.log.chk
index e73b1d0f..0629ead9 100644
--- a/test/daemon/tomtom-mkII.log.chk
+++ b/test/daemon/tomtom-mkII.log.chk
@@ -3,7 +3,7 @@ $GPGGA,175736,5125.8714,N,00524.2350,E,1,04,3.40,60.28,M,46.999,M,,*79
 $GPRMC,175736,A,5125.8714,N,00524.2350,E,3.1865,276.241,200610,,*2A
 {"class":"TPV","mode":3,"time":"2010-06-20T17:57:36.000Z","ept":0.005,"lat":51.431190000,"lon":5.403916667,"alt":60.280,"track":276.2410,"speed":1.639}
 $GPGSA,A,3,14,30,29,31,,,,,,,,,7.6,3.4,6.8*35
-{"class":"TPV","mode":3,"time":"2010-06-20T17:57:36.000Z","ept":0.005,"lat":51.431190000,"lon":5.403916667,"alt":60.280,"epv":156.400,"track":276.2410,"speed":1.639,"climb":0.000}
+{"class":"TPV","mode":3,"time":"2010-06-20T17:57:36.000Z","ept":0.005,"lat":51.431190000,"lon":5.403916667,"alt":60.280,"epv":156.400,"track":276.2410,"speed":1.639}
 $PGRME,0.00,M,0.00,M,29.40,M*21
 $GPGGA,175737,5125.8706,N,00524.2332,E,1,04,3.40,61.40,M,46.999,M,,*70
 $GPRMC,175737,A,5125.8706,N,00524.2332,E,2.5761,257.043,200610,,*21
diff --git a/test/daemon/trimble-lassen_iq-3dfix.log.chk b/test/daemon/trimble-lassen_iq-3dfix.log.chk
index 41429d66..8a21fa2f 100644
--- a/test/daemon/trimble-lassen_iq-3dfix.log.chk
+++ b/test/daemon/trimble-lassen_iq-3dfix.log.chk
@@ -30,12 +30,12 @@ $GPZDA,065813.00,26,11,2006,00,00*6F
 $GPGGA,065813,5332.3091,N,11329.9353,W,1,03,2.06,698.96,M,-19.813,M,,*71
 $GPRMC,065813,A,5332.3091,N,11329.9353,W,0.0000,0.000,261106,,*3C
 $GPGSA,A,2,19,18,1,11,3,22,9,,,,,,3.3,2.1,2.5*0D
-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:13.000Z","leapseconds":14,"ept":0.005,"lat":53.538484440,"lon":-113.498921410,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:13.000Z","leapseconds":14,"ept":0.005,"lat":53.538484440,"lon":-113.498921410,"alt":698.962,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000}
 $GPZDA,065814.00,26,11,2006,00,00*68
 $GPGGA,065814,5332.3090,N,11329.9353,W,1,03,2.06,698.97,M,-19.813,M,,*76
 $GPRMC,065814,A,5332.3090,N,11329.9353,W,0.0000,0.000,261106,,*3A
 $GPGSA,A,2,19,18,1,11,3,22,9,,,,,,3.3,2.1,2.5*0D
-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:14.000Z","leapseconds":14,"ept":0.005,"lat":53.538484105,"lon":-113.498921158,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:14.000Z","leapseconds":14,"ept":0.005,"lat":53.538484105,"lon":-113.498921158,"alt":698.966,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
 $GPGSV,3,1,10,00,00,000,00,19,26,249,27,00,00,000,00,18,26,096,38*75
 $GPGSV,3,2,10,01,29,221,26,11,25,307,26,03,08,225,28,00,00,000,00*75
 $GPGSV,3,3,10,22,64,094,41,09,24,045,41*79
@@ -44,27 +44,27 @@ $GPZDA,065815.00,26,11,2006,00,00*69
 $GPGGA,065815,5332.3090,N,11329.9353,W,1,03,3.72,698.97,M,-19.813,M,,*75
 $GPRMC,065815,A,5332.3090,N,11329.9353,W,0.0000,0.000,261106,,*3B
 $GPGSA,A,2,19,18,1,11,3,22,9,,,,,,3.8,3.7,1.0*07
-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:15.000Z","leapseconds":14,"ept":0.005,"lat":53.538483769,"lon":-113.498920907,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":45.97}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:15.000Z","leapseconds":14,"ept":0.005,"lat":53.538483769,"lon":-113.498920907,"alt":698.970,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":45.97}
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 $GPGGA,065816,5332.3090,N,11329.9352,W,1,03,3.72,698.97,M,-19.813,M,,*77
 $GPRMC,065816,A,5332.3090,N,11329.9352,W,0.0000,0.000,261106,,*39
 $GPGSA,A,2,19,18,1,11,3,22,9,,,,,,3.8,3.7,1.0*07
-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:16.000Z","leapseconds":14,"ept":0.005,"lat":53.538483434,"lon":-113.498920739,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:16.000Z","leapseconds":14,"ept":0.005,"lat":53.538483434,"lon":-113.498920739,"alt":698.974,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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 $GPRMC,065817,A,5332.3090,N,11329.9352,W,0.0000,0.000,261106,,*38
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-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:17.000Z","leapseconds":14,"ept":0.005,"lat":53.538483099,"lon":-113.498920488,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:17.000Z","leapseconds":14,"ept":0.005,"lat":53.538483099,"lon":-113.498920488,"alt":698.978,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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 $GPRMC,065818,A,5332.3090,N,11329.9352,W,0.0000,0.000,261106,,*37
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-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:18.000Z","leapseconds":14,"ept":0.005,"lat":53.538482764,"lon":-113.498920320,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:18.000Z","leapseconds":14,"ept":0.005,"lat":53.538482764,"lon":-113.498920320,"alt":698.982,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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 $GPRMC,065819,A,5332.3090,N,11329.9352,W,0.0000,0.000,261106,,*36
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-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:19.000Z","leapseconds":14,"ept":0.005,"lat":53.538482512,"lon":-113.498920153,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:19.000Z","leapseconds":14,"ept":0.005,"lat":53.538482512,"lon":-113.498920153,"alt":698.985,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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 $GPGSV,3,3,10,22,64,094,42,09,24,045,41*7A
@@ -73,22 +73,22 @@ $GPZDA,065820.00,26,11,2006,00,00*6F
 $GPGGA,065820,5332.3089,N,11329.9352,W,1,03,3.72,698.99,M,-19.813,M,,*74
 $GPRMC,065820,A,5332.3089,N,11329.9352,W,0.0000,0.000,261106,,*34
 $GPGSA,A,2,19,18,1,11,3,22,9,,,,,,3.9,3.7,1.0*06
-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:20.000Z","leapseconds":14,"ept":0.005,"lat":53.538482177,"lon":-113.498919901,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":44.39}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:20.000Z","leapseconds":14,"ept":0.005,"lat":53.538482177,"lon":-113.498919901,"alt":698.989,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":44.39}
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 $GPGGA,065821,5332.3089,N,11329.9352,W,1,03,3.72,698.99,M,-19.813,M,,*75
 $GPRMC,065821,A,5332.3089,N,11329.9352,W,0.0000,0.000,261106,,*35
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-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:21.000Z","leapseconds":14,"ept":0.005,"lat":53.538481842,"lon":-113.498919734,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:21.000Z","leapseconds":14,"ept":0.005,"lat":53.538481842,"lon":-113.498919734,"alt":698.993,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:23.000Z","leapseconds":14,"ept":0.005,"lat":53.538481339,"lon":-113.498919482,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":12.61}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:23.000Z","leapseconds":14,"ept":0.005,"lat":53.538481339,"lon":-113.498919482,"alt":699.000,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":12.61}
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-{"class":"TPV","mode":2,"time":"2006-11-26T06:58:24.000Z","leapseconds":14,"ept":0.005,"lat":53.538481003,"lon":-113.498919314,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:24.000Z","leapseconds":14,"ept":0.005,"lat":53.538481003,"lon":-113.498919314,"alt":699.004,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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@@ -97,27 +97,27 @@ $GPZDA,065825.00,26,11,2006,00,00*6A
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+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:25.000Z","leapseconds":14,"ept":0.005,"lat":53.538480752,"lon":-113.498919147,"alt":699.007,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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+{"class":"TPV","mode":2,"time":"2006-11-26T06:58:27.000Z","leapseconds":14,"ept":0.005,"lat":53.538480249,"lon":-113.498918895,"alt":699.014,"epx":9.599,"epy":12.614,"track":0.0000,"speed":0.000,"eps":25.23}
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diff --git a/test/daemon/trimble-lassen_iq.log.chk b/test/daemon/trimble-lassen_iq.log.chk
index 075fb8b8..a58ec506 100644
--- a/test/daemon/trimble-lassen_iq.log.chk
+++ b/test/daemon/trimble-lassen_iq.log.chk
@@ -18,22 +18,22 @@ $GPZDA,012446.00,26,11,2006,00,00*63
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@@ -42,27 +42,27 @@ $GPZDA,012450.00,26,11,2006,00,00*64
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@@ -71,27 +71,27 @@ $GPZDA,012455.00,26,11,2006,00,00*61
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diff --git a/test/daemon/triton400.log.chk b/test/daemon/triton400.log.chk
index c01ce943..7d19862c 100644
--- a/test/daemon/triton400.log.chk
+++ b/test/daemon/triton400.log.chk
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diff --git a/test/daemon/ublox-8-time.log.chk b/test/daemon/ublox-8-time.log.chk
index 234b8083..0c556afc 100644
--- a/test/daemon/ublox-8-time.log.chk
+++ b/test/daemon/ublox-8-time.log.chk
@@ -2,37 +2,37 @@ $GPZDA,172236.00,01,12,2017,00,00*63
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index 3159ca2c..07dfac61 100644
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diff --git a/test/daemon/ublox-lea-4s.log.chk b/test/daemon/ublox-lea-4s.log.chk
index f52abf7e..4f8dd4bf 100644
--- a/test/daemon/ublox-lea-4s.log.chk
+++ b/test/daemon/ublox-lea-4s.log.chk
@@ -5,13 +5,13 @@ $GPVTG,113.02,T,,M,0.142,N,0.263,K,A*3C
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diff --git a/test/daemon/ublox-lea-5h.log.chk b/test/daemon/ublox-lea-5h.log.chk
index 84dbc0f4..f658d39d 100644
--- a/test/daemon/ublox-lea-5h.log.chk
+++ b/test/daemon/ublox-lea-5h.log.chk
@@ -11,13 +11,13 @@ $GPVTG,,T,,M,0.211,N,0.391,K,A*2A
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index b490ec0a..6daef20a 100644
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author	Gary E. Miller <gem@rellim.com>	2019-03-07 18:30:53 -0800
committer	Gary E. Miller <gem@rellim.com>	2019-03-07 18:30:53 -0800
commit	f9621160cc83851ca8e8c8672c7df46dad5505f1 (patch)
tree	d644033415895e7dcd65d6c479a1406ee499874c
parent	05671b42d51a81f36a6e62a605817019be134ef3 (diff)
download	gpsd-f9621160cc83851ca8e8c8672c7df46dad5505f1.tar.gz