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-rw-r--r--driver_nmea0183.c68
-rw-r--r--driver_sirf.c49
-rw-r--r--gpsutils.c3
-rw-r--r--libgpsd_core.c4
-rw-r--r--test/daemon/beidou-bd.log.chk14
-rw-r--r--test/daemon/beidou-gb.log.chk10
-rw-r--r--test/daemon/sirfstarv.log.chk120
7 files changed, 169 insertions, 99 deletions
diff --git a/driver_nmea0183.c b/driver_nmea0183.c
index 80c188b1..a73a1f79 100644
--- a/driver_nmea0183.c
+++ b/driver_nmea0183.c
@@ -1284,6 +1284,7 @@ static gps_mask_t processPGRME(int c UNUSED, char *field[],
* * in libgpsd_core.c where we generate $PGRME.
*/
gps_mask_t mask = ONLINE_SET;
+
if ((strcmp(field[2], "M") != 0) ||
(strcmp(field[4], "M") != 0) || (strcmp(field[6], "M") != 0)) {
session->newdata.epx =
@@ -1400,9 +1401,72 @@ static gps_mask_t processPMGNST(int c UNUSED, char *field[],
return mask;
}
-static gps_mask_t processGBS(int c UNUSED, char *field[],
+/* SiRF Estimated Position Errors */
+static gps_mask_t processPSRFEPE(int c UNUSED, char *field[],
struct gps_device_t *session)
+{
+ /*
+ * $PSRFEPE,100542.000,A,0.7,6.82,10.69,0.0,180.0*24
+ * 1 = UTC Time hhmmss.sss
+ * 2 = Status. A = Valid, V = Data not valid
+ * 3 = HDOP
+ * 4 = EHPE meters
+ * 5 = EVPE meters
+ * 6 = EHVE meters
+ * 7 = EHE meters
+ *
+ * SiRF won't say if these are 1-sigma or what...
+ */
+ gps_mask_t mask = 0;
+
+ if ('A' != field[2][0]) {
+ /* not valid */
+ return 0;
+ }
+ if ('\0' != field[1][0]) {
+ merge_hhmmss(field[1], session);
+ register_fractional_time(field[0], field[1], session);
+ if (session->nmea.date.tm_year == 0) {
+ gpsd_log(&session->context->errout, LOG_WARN,
+ "can't use PSRFEPE time until after ZDA or RMC"
+ " has supplied a year.\n");
+ } else {
+ mask |= TIME_SET;
+ }
+ }
+
+ if ('\0' != field[3][0]) {
+ /* This adds nothing, it just agrees with the gpsd calculation
+ * from the skyview. Which is a nice confirmation. */
+ session->gpsdata.dop.hdop = safe_atof(field[3]);
+ mask |= DOP_SET;
+ }
+ /* don't use EHPE (Estimated Horizontal Position Error) as
+ * we compute epx and epy later from the skyview */
+
+ if ('\0' != field[5][0]) {
+ /* Estimated Vertical Position Error (meters, 0.01 resolution)
+ session->newdata.epv = safe_atof(field[5]);
+ mask |= VERR_SET;
+ not ready for prime time */
+ }
+
+ if ('\0' != field[7][0]) {
+ /* Estimated Heading Error degrees */
+ session->newdata.epd = safe_atof(field[7]);
+ }
+
+ gpsd_log(&session->context->errout, LOG_PROG,
+ "PSRFEPE: hdop=%.1f epv=%.1f epd=%.1f\n",
+ session->gpsdata.dop.hdop,
+ session->newdata.epv,
+ session->newdata.epd);
+ return mask;
+}
+
/* NMEA 3.0 Estimated Position Error */
+static gps_mask_t processGBS(int c UNUSED, char *field[],
+ struct gps_device_t *session)
{
/*
* $GPGBS,082941.00,2.4,1.5,3.9,25,,-43.7,27.5*65
@@ -2284,7 +2348,7 @@ gps_mask_t nmea_parse(char *sentence, struct gps_device_t * session)
{"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 */
+ {"PSRFEPE", 7, false, processPSRFEPE}, /* SiRF Estimated Errors */
{"PTFTTXT", 0, false, NULL}, /* ignore unknown uptime */
{"PUBX", 0, false, NULL}, /* ignore u-blox Antaris */
#ifdef TNT_ENABLE
diff --git a/driver_sirf.c b/driver_sirf.c
index 07dd195a..1c587c44 100644
--- a/driver_sirf.c
+++ b/driver_sirf.c
@@ -604,6 +604,7 @@ static gps_mask_t sirf_msg_67_1(struct gps_device_t *session,
uint32_t sv_list_4;
uint32_t sv_list_5;
uint32_t additional_info;
+ int debug_base = LOG_PROG;
if (len < 126)
return 0;
@@ -649,10 +650,10 @@ static gps_mask_t sirf_msg_67_1(struct gps_device_t *session,
mask |= TIME_SET;
datum = getub(buf, 33);
- clk_bias = getbes64(buf, 34);
- clk_bias_error = getbeu32(buf, 42);
- clk_offset = getbes32(buf, 46);
- clk_offset_error = getbeu32(buf, 50);
+ clk_bias = getbes64(buf, 34) / 100.0;
+ clk_bias_error = getbeu32(buf, 42) / 100.0;
+ clk_offset = getbes32(buf, 46) / 100.0;
+ clk_offset_error = getbeu32(buf, 50) / 100.0;
session->newdata.latitude = getbes32(buf, 54) * 1e-7;
session->newdata.longitude = getbes32(buf, 58) * 1e-7;
alt_ellips = getbes32(buf, 62);
@@ -693,15 +694,15 @@ static gps_mask_t sirf_msg_67_1(struct gps_device_t *session,
if (!(solution_info & 0x01000)) {
/* sog - speed over ground m/s * 100 */
- session->newdata.speed = getbeu16(buf, 70) * 1e-2;
+ session->newdata.speed = getbeu16(buf, 70) / 100.0;
mask |= SPEED_SET;
}
/* cog - course over ground fm true north deg * 100 */
- session->newdata.track = getbeu16(buf, 72) * 1e-2;
+ session->newdata.track = getbeu16(buf, 72) / 100.0;
mask |= TRACK_SET;
/* climb_rate - vertical velocity m/s * 100 */
- session->newdata.climb = getbes16(buf, 74) * 1e-2;
+ session->newdata.climb = getbes16(buf, 74) / 100.0;
if (session->newdata.mode == MODE_3D)
mask |= ALTITUDE_SET | CLIMB_SET;
@@ -709,15 +710,15 @@ static gps_mask_t sirf_msg_67_1(struct gps_device_t *session,
heading_rate = getbes16(buf, 76); /* rate of change cog deg/s * 100 */
distance_travel = getbeu32(buf, 78); /* distance traveled m * 100 */
/* heading_error error of cog deg * 100 */
- session->newdata.epd = getbes16(buf, 82) * 1e-2;
+ session->newdata.epd = getbeu16(buf, 82) / 100.0;
/* distance traveled error in m * 100 */
- distance_travel_error = getbeu16(buf, 84);
+ distance_travel_error = getbeu16(buf, 84) / 100.0;
ehpe = getbeu32(buf, 86); /* Estimated horizontal position error * 100 */
/* Estimated vertical position error * 100 */
- session->newdata.epv = getbeu16(buf, 90) * 1e-2;
+ session->newdata.epv = getbeu16(buf, 90) / 100.0;
/* Estimated horizontal velocity error * 100 */
- session->newdata.eps = getbeu16(buf, 94) * 1e-2;
+ session->newdata.eps = getbeu16(buf, 94) / 100.0;
mask |= SPEEDERR_SET;
session->gpsdata.dop.gdop = (int)getub(buf, 96) / 5.0;
@@ -737,44 +738,44 @@ static gps_mask_t sirf_msg_67_1(struct gps_device_t *session,
mask |= REPORT_IS; /* send it */
- if (session->context->errout.debug >= LOG_IO) {
+ if (session->context->errout.debug >= debug_base) {
/* skip all the pushing and popping, unless needed */
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"GPS Week %d, tow %d.%03d, time %ld.%09ld\n",
gps_week, gps_tow, gps_tow_sub_ms, now.tv_sec, now.tv_nsec);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"UTC time %.9f leaps %u, datum %u\n",
session->newdata.time, session->context->leap_seconds, datum);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"solution_info %08x\n", solution_info);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"lat %.7f lon %.7f alte %d msl %.2f\n",
session->newdata.latitude, session->newdata.longitude,
alt_ellips, session->newdata.altitude);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"speed %.2f track %.2f climb %.2f heading_rate %d\n",
session->newdata.speed, session->newdata.track,
session->newdata.climb, heading_rate);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"time_bias %d time_accuracy %u, time_source %u\n",
time_bias, time_accuracy, time_source);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"distance_travel %u distance_travel_error %d\n",
distance_travel, distance_travel_error);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"clk_bias %.2f clk_bias_error %u\n",
clk_bias / 100.0, clk_bias_error);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"clk_offset %d clk_offset_error %u\n",
clk_offset, clk_offset_error);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"ehpe %d epv %.2f eps %.2f epd %.2f num_svs_in_sol %u\n", ehpe,
session->newdata.epv, session->newdata.eps, session->newdata.epd,
num_svs_in_sol);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"sv_list_1 %08x sv_list_2 %08x sv_list_3 %08x\n",
sv_list_1, sv_list_2, sv_list_3);
- gpsd_log(&session->context->errout, LOG_IO,
+ gpsd_log(&session->context->errout, debug_base,
"sv_list_4 %08x sv_list_5 %08x add_info %08x\n",
sv_list_4, sv_list_5, additional_info);
}
diff --git a/gpsutils.c b/gpsutils.c
index caef04aa..73c804ca 100644
--- a/gpsutils.c
+++ b/gpsutils.c
@@ -332,6 +332,9 @@ void gps_merge_fix(struct gps_fix_t *to,
to->epx = from->epx;
to->epy = from->epy;
}
+ if (0 != isfinite(from->epd)) {
+ to->epd = from->epd;
+ }
if ((transfer & VERR_SET) != 0)
to->epv = from->epv;
if ((transfer & SPEEDERR_SET) != 0)
diff --git a/libgpsd_core.c b/libgpsd_core.c
index 59bd622e..a98f5073 100644
--- a/libgpsd_core.c
+++ b/libgpsd_core.c
@@ -1050,7 +1050,9 @@ static void gpsd_error_model(struct gps_device_t *session)
}
}
- if (0 < deltatime && MODE_2D <= fix->mode) {
+ if (0 == isfinite(fix->epd) &&
+ 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
diff --git a/test/daemon/beidou-bd.log.chk b/test/daemon/beidou-bd.log.chk
index 7b718913..add1bdb2 100644
--- a/test/daemon/beidou-bd.log.chk
+++ b/test/daemon/beidou-bd.log.chk
@@ -48,11 +48,11 @@ $BDGSA,A,1,,,,,,,,,,,,,,,,*23
$GNRMC,074154.799,V,,,,,,,250215,,,N*56
$PSRFEPE,074155.799,A,1.3,10.59,52.97,0.6,180.0*16
$GNGGA,074155.799,3114.8770,N,12135.2463,E,1,05,1.3,156.9,M,8.3,M,,0000,4.9*77
-{"class":"TPV","mode":3,"lat":31.247950000,"lon":121.587438333,"alt":156.900}
+{"class":"TPV","mode":3,"lat":31.247950000,"lon":121.587438333,"alt":156.900,"epd":180.0000}
$GNGNS,074155.799,3114.8770,N,12135.2463,E,ANNA,05,1.3,156.9,8.3,,0000*52
$GPGSA,A,3,25,32,,,,,,,,,,,5.1,1.3,4.9,3.3*3D
$BDGSA,A,3,02,03,04,,,,,,,,,,5.1,1.3,4.9,3.3*2F
-{"class":"TPV","mode":3,"lat":31.247950000,"lon":121.587438333,"alt":156.900,"epv":112.700}
+{"class":"TPV","mode":3,"lat":31.247950000,"lon":121.587438333,"alt":156.900,"epv":112.700,"epd":180.0000}
$GPGSV,5,1,20,25,76,102,50,32,29,284,47,01,02,001,24,07,00,000,23*7A
$GPGSV,5,2,20,08,00,000,46,09,19,094,,12,00,000,44,14,68,202,49*7F
$GPGSV,5,3,20,18,13,225,27,20,00,000,29,22,16,229,37,26,00,000,24*77
@@ -63,33 +63,33 @@ $BDGSV,3,2,12,10,64,323,,07,64,320,,06,55,274,,14,50,284,*66
$BDGSV,3,3,12,09,44,299,,08,14,156,,05,11,258,,13,08,322,*6C
{"class":"SKY","xdop":0.91,"ydop":1.62,"vdop":4.90,"tdop":1.64,"hdop":1.30,"gdop":3.29,"pdop":5.10,"satellites":[{"PRN":25,"el":76,"az":102,"ss":50,"used":true,"gnssid":0,"svid":25},{"PRN":32,"el":29,"az":284,"ss":47,"used":true,"gnssid":0,"svid":32},{"PRN":1,"el":2,"az":1,"ss":24,"used":false,"gnssid":0,"svid":1},{"PRN":7,"el":0,"az":0,"ss":23,"used":false,"gnssid":0,"svid":7},{"PRN":8,"el":0,"az":0,"ss":46,"used":false,"gnssid":0,"svid":8},{"PRN":9,"el":19,"az":94,"ss":0,"used":false,"gnssid":0,"svid":9},{"PRN":12,"el":0,"az":0,"ss":44,"used":false,"gnssid":0,"svid":12},{"PRN":14,"el":68,"az":202,"ss":49,"used":false,"gnssid":0,"svid":14},{"PRN":18,"el":13,"az":225,"ss":27,"used":false,"gnssid":0,"svid":18},{"PRN":20,"el":0,"az":0,"ss":29,"used":false,"gnssid":0,"svid":20},{"PRN":22,"el":16,"az":229,"ss":37,"used":false,"gnssid":0,"svid":22},{"PRN":26,"el":0,"az":0,"ss":24,"used":false,"gnssid":0,"svid":26},{"PRN":28,"el":0,"az":0,"ss":24,"used":false,"gnssid":0,"svid":28},{"PRN":29,"el":35,"az":80,"ss":43,"used":false,"gnssid":0,"svid":29},{"PRN":31,"el":62,"az":89,"ss":0,"used":false,"gnssid":0,"svid":31},{"PRN":15,"el":42,"az":298,"ss":0,"used":false,"gnssid":0,"svid":15},{"PRN":27,"el":40,"az":94,"ss":0,"used":false,"gnssid":0,"svid":27},{"PRN":30,"el":24,"az":225,"ss":0,"used":false,"gnssid":0,"svid":30},{"PRN":23,"el":22,"az":310,"ss":0,"used":false,"gnssid":0,"svid":23},{"PRN":10,"el":5,"az":340,"ss":0,"used":false,"gnssid":0,"svid":10},{"PRN":202,"el":33,"az":240,"ss":35,"used":true,"gnssid":3,"svid":2},{"PRN":203,"el":51,"az":201,"ss":37,"used":true,"gnssid":3,"svid":3},{"PRN":204,"el":35,"az":123,"ss":42,"used":true,"gnssid":3,"svid":4},{"PRN":201,"el":42,"az":130,"ss":45,"used":false,"gnssid":3,"svid":1},{"PRN":210,"el":64,"az":323,"ss":0,"used":false,"gnssid":3,"svid":10},{"PRN":207,"el":64,"az":320,"ss":0,"used":false,"gnssid":3,"svid":7},{"PRN":206,"el":55,"az":274,"ss":0,"used":false,"gnssid":3,"svid":6},{"PRN":214,"el":50,"az":284,"ss":0,"used":false,"gnssid":3,"svid":14},{"PRN":209,"el":44,"az":299,"ss":0,"used":false,"gnssid":3,"svid":9},{"PRN":208,"el":14,"az":156,"ss":0,"used":false,"gnssid":3,"svid":8},{"PRN":205,"el":11,"az":258,"ss":0,"used":true,"gnssid":3,"svid":5},{"PRN":213,"el":8,"az":322,"ss":0,"used":false,"gnssid":3,"svid":13}]}
$GNRMC,074155.799,A,3114.8770,N,12135.2463,E,0.30,4.94,250215,,,A*76
-{"class":"TPV","mode":3,"time":"2015-02-25T07:41:55.799Z","ept":0.005,"lat":31.247950000,"lon":121.587438333,"alt":156.900,"epx":13.701,"epy":24.264,"epv":112.700,"track":4.9400,"speed":0.154}
+{"class":"TPV","mode":3,"time":"2015-02-25T07:41:55.799Z","ept":0.005,"lat":31.247950000,"lon":121.587438333,"alt":156.900,"epx":13.701,"epy":24.264,"epv":112.700,"track":4.9400,"speed":0.154,"epd":180.0000}
$PSRFEPE,074156.799,A,1.1,64.94,58.97,0.2,180.0*1B
$GNGGA,074156.799,3114.8950,N,12135.2442,E,1,07,1.1,190.7,M,8.3,M,,0000,1.8*7B
$GNGNS,074156.799,3114.8950,N,12135.2442,E,ANNA,07,1.1,190.7,8.3,,0000*5A
$GPGSA,A,3,25,32,14,12,,,,,,,,,2.1,1.1,1.8,1.2*39
$BDGSA,A,3,02,03,04,,,,,,,,,,2.1,1.1,1.8,1.2*2D
$GNRMC,074156.799,A,3114.8950,N,12135.2442,E,0.26,4.94,250215,,,A*7D
-{"class":"TPV","mode":3,"time":"2015-02-25T07:41:56.799Z","ept":0.005,"lat":31.248250000,"lon":121.587403333,"alt":190.700,"epx":13.701,"epy":24.264,"epv":112.700,"track":4.9400,"speed":0.134,"climb":33.800,"epd":71.9479,"eps":48.53,"epc":225.40}
+{"class":"TPV","mode":3,"time":"2015-02-25T07:41:56.799Z","ept":0.005,"lat":31.248250000,"lon":121.587403333,"alt":190.700,"epx":13.701,"epy":24.264,"epv":112.700,"track":4.9400,"speed":0.134,"climb":33.800,"epd":180.0000,"eps":48.53,"epc":225.40}
$PSRFEPE,074157.799,A,1.1,24.65,25.14,0.1,61.5*29
$GNGGA,074157.799,3114.8902,N,12135.2443,E,1,07,1.1,192.9,M,8.3,M,,0000,1.8*70
$GNGNS,074157.799,3114.8902,N,12135.2443,E,ANNA,07,1.1,192.9,8.3,,0000*51
$GPGSA,A,3,25,32,12,14,,,,,,,,,2.1,1.1,1.8,1.2*39
$BDGSA,A,3,02,03,04,,,,,,,,,,2.1,1.1,1.8,1.2*2D
$GNRMC,074157.799,A,3114.8902,N,12135.2443,E,0.32,4.94,250215,,,A*7F
-{"class":"TPV","mode":3,"time":"2015-02-25T07:41:57.799Z","ept":0.005,"lat":31.248170000,"lon":121.587405000,"alt":192.900,"epx":13.701,"epy":24.264,"epv":41.400,"track":4.9400,"speed":0.165,"climb":2.200,"eps":48.53,"epc":154.10}
+{"class":"TPV","mode":3,"time":"2015-02-25T07:41:57.799Z","ept":0.005,"lat":31.248170000,"lon":121.587405000,"alt":192.900,"epx":13.701,"epy":24.264,"epv":41.400,"track":4.9400,"speed":0.165,"climb":2.200,"epd":61.5000,"eps":48.53,"epc":154.10}
$PSRFEPE,074158.799,A,1.1,19.32,19.35,0.1,180.0*1D
$GNGGA,074158.799,3114.8953,N,12135.2439,E,1,07,1.1,198.5,M,8.3,M,,0000,1.8*70
$GNGNS,074158.799,3114.8953,N,12135.2439,E,ANNA,07,1.1,198.5,8.3,,0000*51
$GPGSA,A,3,25,32,12,14,,,,,,,,,2.1,1.1,1.8,1.2*39
$BDGSA,A,3,02,03,04,,,,,,,,,,2.1,1.1,1.8,1.2*2D
$GNRMC,074158.799,A,3114.8953,N,12135.2439,E,0.25,4.94,250215,,,A*7F
-{"class":"TPV","mode":3,"time":"2015-02-25T07:41:58.799Z","ept":0.005,"lat":31.248255000,"lon":121.587398333,"alt":198.500,"epx":13.701,"epy":24.264,"epv":41.400,"track":4.9400,"speed":0.129,"climb":5.600,"eps":48.53,"epc":82.80}
+{"class":"TPV","mode":3,"time":"2015-02-25T07:41:58.799Z","ept":0.005,"lat":31.248255000,"lon":121.587398333,"alt":198.500,"epx":13.701,"epy":24.264,"epv":41.400,"track":4.9400,"speed":0.129,"climb":5.600,"epd":180.0000,"eps":48.53,"epc":82.80}
$PSRFEPE,074159.799,A,1.1,14.86,15.59,0.2,180.0*1B
$GNGGA,074159.799,3114.8943,N,12135.2444,E,1,07,1.1,196.4,M,8.3,M,,0000,1.8*75
$GNGNS,074159.799,3114.8943,N,12135.2444,E,ANNA,07,1.1,196.4,8.3,,0000*54
$GPGSA,A,3,25,32,12,14,,,,,,,,,2.1,1.1,1.8,1.2*39
$BDGSA,A,3,02,03,04,,,,,,,,,,2.1,1.1,1.8,1.2*2D
$GNRMC,074159.799,A,3114.8943,N,12135.2444,E,0.23,4.94,250215,,,A*73
-{"class":"TPV","mode":3,"time":"2015-02-25T07:41:59.799Z","ept":0.005,"lat":31.248238333,"lon":121.587406667,"alt":196.400,"epx":13.701,"epy":24.264,"epv":41.400,"track":4.9400,"speed":0.118,"climb":-2.100,"eps":48.53,"epc":82.80}
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diff --git a/test/daemon/beidou-gb.log.chk b/test/daemon/beidou-gb.log.chk
index 438a78d9..fc0a1ee6 100644
--- a/test/daemon/beidou-gb.log.chk
+++ b/test/daemon/beidou-gb.log.chk
@@ -46,12 +46,12 @@ $GBGSV,2,2,05,209,07,033,*62
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@@ -63,7 +63,7 @@ $GBGSV,3,2,11,210,70,270,,207,70,267,,206,55,311,,203,49,208,*6B
$GBGSV,3,3,11,209,36,317,,214,36,147,,205,11,257,*67
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@@ -79,4 +79,4 @@ $GBGSV,3,2,11,210,70,270,,207,70,267,,206,55,311,,203,49,208,*6B
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diff --git a/test/daemon/sirfstarv.log.chk b/test/daemon/sirfstarv.log.chk
index c112c10b..41ad7b2b 100644
--- a/test/daemon/sirfstarv.log.chk
+++ b/test/daemon/sirfstarv.log.chk
@@ -9,7 +9,7 @@ $GPZDA,215301.00,06,01,2019,00,00*6F
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@@ -21,7 +21,7 @@ $GPZDA,215302.00,06,01,2019,00,00*6C
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@@ -33,7 +33,7 @@ $GPZDA,215303.00,06,01,2019,00,00*6D
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@@ -46,7 +46,7 @@ $GPGGA,215304,4821.5195,N,00958.8958,E,0,00,0.80,493.74,M,,,*37
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@@ -58,7 +58,7 @@ $GPZDA,215305.00,06,01,2019,00,00*6B
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@@ -70,7 +70,7 @@ $GPZDA,215306.00,06,01,2019,00,00*68
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@@ -83,7 +83,7 @@ $GPGGA,215307,4821.5194,N,00958.8957,E,0,00,0.80,493.97,M,,,*37
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$GPGSV,6,3,23,12,06,115,23,23,04,329,16,82,15,226,00,87,11,042,22*77
@@ -107,7 +107,7 @@ $GPZDA,215309.00,06,01,2019,00,00*67
$GPGGA,215309,4821.5194,N,00958.8956,E,0,00,0.80,494.09,M,,,*38
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$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
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+{"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,"epd":0.0000,"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
@@ -120,7 +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
$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
$GPGBS,215310,7.83,M,10.86,M,27.60,M*3A
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:10.000Z","leapseconds":18,"ept":0.005,"lat":48.358656500,"lon":9.981593500,"alt":494.140,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":55.20}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:10.000Z","leapseconds":18,"ept":0.005,"lat":48.358656500,"lon":9.981593500,"alt":494.140,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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$GPGSV,6,3,23,12,06,115,24,23,04,329,16,82,15,226,00,87,11,042,22*70
@@ -132,7 +132,7 @@ $GPZDA,215311.00,06,01,2019,00,00*6E
$GPGGA,215311,4821.5194,N,00958.8956,E,0,00,0.80,494.19,M,,,*30
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$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:11.000Z","leapseconds":18,"ept":0.005,"lat":48.358656300,"lon":9.981593100,"alt":494.190,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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$GPGSV,6,3,23,12,06,115,24,23,04,329,16,82,15,226,00,87,11,042,22*70
@@ -144,7 +144,7 @@ $GPZDA,215312.00,06,01,2019,00,00*6D
$GPGGA,215312,4821.5194,N,00958.8956,E,0,00,0.80,494.24,M,,,*3D
$GPRMC,215312,V,4821.5194,N,00958.8956,E,0.0000,264.910,060119,,*3B
$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:12.000Z","leapseconds":18,"ept":0.005,"lat":48.358656200,"lon":9.981592800,"alt":494.240,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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$GPGSV,6,3,23,12,06,115,24,23,04,329,16,82,15,226,00,87,11,042,22*70
@@ -157,7 +157,7 @@ $GPGGA,215313,4821.5194,N,00958.8955,E,0,00,0.80,494.28,M,,,*33
$GPRMC,215313,V,4821.5194,N,00958.8955,E,0.0000,264.910,060119,,*39
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$GPGBS,215313,7.83,M,10.86,M,27.60,M*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:13.000Z","leapseconds":18,"ept":0.005,"lat":48.358656000,"lon":9.981592500,"alt":494.280,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.01,"epc":55.20}
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$GPGSV,6,3,23,12,06,115,24,23,04,329,16,82,15,226,00,87,11,042,22*70
@@ -169,7 +169,7 @@ $GPZDA,215314.00,06,01,2019,00,00*6B
$GPGGA,215314,4821.5194,N,00958.8955,E,0,00,0.80,494.31,M,,,*3C
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$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:14.000Z","leapseconds":18,"ept":0.005,"lat":48.358655900,"lon":9.981592200,"alt":494.310,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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@@ -181,7 +181,7 @@ $GPZDA,215315.00,06,01,2019,00,00*6A
$GPGGA,215315,4821.5193,N,00958.8955,E,0,00,0.80,494.35,M,,,*3E
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$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:15.000Z","leapseconds":18,"ept":0.005,"lat":48.358655800,"lon":9.981591900,"alt":494.350,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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@@ -194,7 +194,7 @@ $GPGGA,215316,4821.5193,N,00958.8955,E,0,00,0.80,494.38,M,,,*30
$GPRMC,215316,V,4821.5193,N,00958.8955,E,0.0000,264.910,060119,,*3B
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$GPGBS,215316,7.83,M,10.86,M,27.60,M*3C
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:16.000Z","leapseconds":18,"ept":0.005,"lat":48.358655700,"lon":9.981591700,"alt":494.380,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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@@ -206,7 +206,7 @@ $GPZDA,215317.00,06,01,2019,00,00*68
$GPGGA,215317,4821.5193,N,00958.8955,E,0,00,0.80,494.41,M,,,*3F
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$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:17.000Z","leapseconds":18,"ept":0.005,"lat":48.358655600,"lon":9.981591500,"alt":494.410,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.01,"epc":55.20}
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@@ -218,7 +218,7 @@ $GPZDA,215318.00,06,01,2019,00,00*67
$GPGGA,215318,4821.5193,N,00958.8955,E,0,00,0.80,494.44,M,,,*35
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$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:18.000Z","leapseconds":18,"ept":0.005,"lat":48.358655500,"lon":9.981591300,"alt":494.440,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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@@ -231,7 +231,7 @@ $GPGGA,215319,4821.5193,N,00958.8955,E,0,00,0.80,494.46,M,,,*36
$GPRMC,215319,V,4821.5193,N,00958.8955,E,0.0000,264.910,060119,,*34
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$GPGBS,215319,7.83,M,10.86,M,27.60,M*33
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:19.000Z","leapseconds":18,"ept":0.005,"lat":48.358655400,"lon":9.981591100,"alt":494.460,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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@@ -243,7 +243,7 @@ $GPZDA,215320.00,06,01,2019,00,00*6C
$GPGGA,215320,4821.5193,N,00958.8955,E,0,00,0.80,494.49,M,,,*33
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:20.000Z","leapseconds":18,"ept":0.005,"lat":48.358655400,"lon":9.981590900,"alt":494.490,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.01,"epc":55.20}
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@@ -255,7 +255,7 @@ $GPZDA,215321.00,06,01,2019,00,00*6D
$GPGGA,215321,4821.5193,N,00958.8954,E,0,00,0.80,494.51,M,,,*3A
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$GPGSA,A,3,29,31,21,25,26,5,16,2,12,87,,,1.4,0.8,1.2*39
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:21.000Z","leapseconds":18,"ept":0.005,"lat":48.358655300,"lon":9.981590800,"alt":494.510,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":55.20}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:21.000Z","leapseconds":18,"ept":0.005,"lat":48.358655300,"lon":9.981590800,"alt":494.510,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
$GPGSV,6,1,23,29,66,053,31,31,53,252,17,21,43,182,19,25,37,118,35*7D
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$GPGSV,6,3,23,12,06,115,23,23,04,329,15,82,15,226,00,87,11,042,23*75
@@ -268,7 +268,7 @@ $GPGGA,215322,4821.5193,N,00958.8954,E,0,00,0.80,494.53,M,,,*3B
$GPRMC,215322,V,4821.5193,N,00958.8954,E,0.0000,264.910,060119,,*3D
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$GPGBS,215322,7.83,M,10.86,M,27.60,M*3B
-{"class":"TPV","mode":3,"time":"2019-01-06T21:53:22.000Z","leapseconds":18,"ept":0.005,"lat":48.358655200,"lon":9.981590600,"alt":494.530,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"eps":0.02,"epc":55.20}
+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:22.000Z","leapseconds":18,"ept":0.005,"lat":48.358655200,"lon":9.981590600,"alt":494.530,"epx":7.835,"epy":10.863,"epv":27.600,"track":264.9100,"speed":0.000,"climb":0.000,"epd":0.0000,"eps":0.02,"epc":55.20}
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@@ -280,7 +280,7 @@ $GPZDA,215323.00,06,01,2019,00,00*6F
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@@ -292,7 +292,7 @@ $GPZDA,215324.00,06,01,2019,00,00*68
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@@ -305,7 +305,7 @@ $GPGGA,215325,4821.5193,N,00958.8954,E,0,00,0.80,494.58,M,,,*37
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@@ -317,7 +317,7 @@ $GPZDA,215326.00,06,01,2019,00,00*6A
$GPGGA,215326,4821.5193,N,00958.8954,E,0,00,0.80,494.59,M,,,*35
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@@ -329,7 +329,7 @@ $GPZDA,215327.00,06,01,2019,00,00*6B
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@@ -342,7 +342,7 @@ $GPGGA,215328,4821.5193,N,00958.8954,E,0,00,0.80,494.61,M,,,*30
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@@ -354,7 +354,7 @@ $GPZDA,215329.00,06,01,2019,00,00*65
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@@ -366,7 +366,7 @@ $GPZDA,215330.00,06,01,2019,00,00*6D
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@@ -379,7 +379,7 @@ $GPGGA,215331,4821.5193,N,00958.8954,E,0,00,0.80,494.64,M,,,*3D
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@@ -391,7 +391,7 @@ $GPZDA,215332.00,06,01,2019,00,00*6F
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@@ -403,7 +403,7 @@ $GPZDA,215333.00,06,01,2019,00,00*6E
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@@ -416,7 +416,7 @@ $GPGGA,215334,4821.5193,N,00958.8954,E,0,00,0.80,494.66,M,,,*3A
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@@ -428,7 +428,7 @@ $GPZDA,215335.00,06,01,2019,00,00*68
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@@ -440,7 +440,7 @@ $GPZDA,215336.00,06,01,2019,00,00*6B
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@@ -453,7 +453,7 @@ $GPGGA,215337,4821.5193,N,00958.8954,E,0,00,0.80,494.68,M,,,*37
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@@ -465,7 +465,7 @@ $GPZDA,215338.00,06,01,2019,00,00*65
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@@ -477,7 +477,7 @@ $GPZDA,215339.00,06,01,2019,00,00*64
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@@ -490,7 +490,7 @@ $GPGGA,215340,4821.5193,N,00958.8954,E,0,00,0.80,494.69,M,,,*36
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@@ -502,7 +502,7 @@ $GPZDA,215341.00,06,01,2019,00,00*6B
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@@ -514,7 +514,7 @@ $GPZDA,215342.00,06,01,2019,00,00*68
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@@ -527,7 +527,7 @@ $GPGGA,215343,4821.5193,N,00958.8954,E,0,00,0.80,494.70,M,,,*3D
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@@ -539,7 +539,7 @@ $GPZDA,215344.00,06,01,2019,00,00*6E
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@@ -551,7 +551,7 @@ $GPZDA,215345.00,06,01,2019,00,00*6F
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@@ -564,7 +564,7 @@ $GPGGA,215346,4821.5193,N,00958.8954,E,0,00,0.80,494.71,M,,,*39
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@@ -576,7 +576,7 @@ $GPZDA,215347.00,06,01,2019,00,00*6D
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@@ -588,7 +588,7 @@ $GPZDA,215348.00,06,01,2019,00,00*62
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@@ -601,7 +601,7 @@ $GPGGA,215349,4821.5193,N,00958.8954,E,0,00,0.80,494.71,M,,,*36
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@@ -613,7 +613,7 @@ $GPZDA,215350.00,06,01,2019,00,00*6B
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@@ -625,7 +625,7 @@ $GPZDA,215351.00,06,01,2019,00,00*6A
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@@ -638,7 +638,7 @@ $GPGGA,215352,4821.5192,N,00958.8954,E,0,00,0.80,494.68,M,,,*35
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$GPGBS,215352,7.83,M,10.86,M,27.60,M*3C
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$GPGSV,6,3,23,12,06,115,28,23,04,329,10,82,15,226,00,87,11,042,25*7D
@@ -650,7 +650,7 @@ $GPZDA,215353.00,06,01,2019,00,00*68
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$GPGSA,A,3,29,21,25,26,5,16,2,12,87,,,,1.6,0.8,1.2*39
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@@ -662,7 +662,7 @@ $GPZDA,215354.00,06,01,2019,00,00*6F
$GPGGA,215354,4821.5192,N,00958.8955,E,0,00,0.80,494.61,M,,,*3B
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$GPGSA,A,3,29,21,25,26,5,16,2,12,87,,,,1.6,0.8,1.2*39
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@@ -675,7 +675,7 @@ $GPGGA,215355,4821.5193,N,00958.8957,E,0,00,0.80,494.61,M,,,*39
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$GPGBS,215355,7.83,M,10.86,M,27.60,M*3B
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@@ -687,7 +687,7 @@ $GPZDA,215356.00,06,01,2019,00,00*6D
$GPGGA,215356,4821.5193,N,00958.8958,E,0,00,0.80,494.61,M,,,*35
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$GPGSA,A,3,29,21,25,26,5,16,2,12,87,,,,1.6,0.8,1.2*39
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$GPGSV,6,3,23,12,06,115,28,23,04,329,11,82,15,226,00,87,11,042,25*7C
@@ -699,7 +699,7 @@ $GPZDA,215357.00,06,01,2019,00,00*6C
$GPGGA,215357,4821.5193,N,00958.8961,E,0,00,0.80,494.62,M,,,*3D
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@@ -712,7 +712,7 @@ $GPGGA,215358,4821.5193,N,00958.8964,E,0,00,0.80,494.59,M,,,*3F
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$GPGBS,215358,7.83,M,10.86,M,27.60,M*36
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@@ -724,7 +724,7 @@ $GPZDA,215359.00,06,01,2019,00,00*62
$GPGGA,215359,4821.5193,N,00958.8968,E,0,00,0.80,494.54,M,,,*3F
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$GPGSA,A,3,29,21,25,26,5,16,2,12,87,,,,1.6,0.8,1.2*39
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+{"class":"TPV","mode":3,"time":"2019-01-06T21:53:59.000Z","leapseconds":18,"ept":0.005,"lat":48.358655500,"lon":9.981613200,"alt":494.540,"epx":7.835,"epy":10.863,"epv":27.600,"track":164.5800,"speed":0.420,"climb":-0.020,"epd":0.0000,"eps":0.49,"epc":55.20}
$GPGSV,6,1,23,29,66,053,33,31,53,252,19,21,43,182,18,25,37,118,34*71
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@@ -736,4 +736,4 @@ $GPZDA,215400.00,06,01,2019,00,00*69
$GPGGA,215400,4821.5193,N,00958.8969,E,0,00,0.80,494.49,M,,,*39
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View Lorry Controller Status