path: root/gpsd_json.xml

<?xml version="1.0" encoding="ISO-8859-1"?>
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<!DOCTYPE refentry PUBLIC
   "-//OASIS//DTD DocBook XML V4.1.2//EN"
   "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd" [
<!ENTITY gpsdsock	 "/var/run/gpsd.sock">
]>
<refentry id='gpsd_json.5'>
<refentryinfo><date>28 Aug 2011</date></refentryinfo>
<refmeta>
<refentrytitle>gpsd_json</refentrytitle>
<manvolnum>5</manvolnum>
<refmiscinfo class="source">The GPSD Project</refmiscinfo>
<refmiscinfo class="manual">GPSD Documentation</refmiscinfo>
</refmeta>
<refnamediv id='name'>
<refname>gpsd_json</refname>
<refpurpose>gpsd request/response protol</refpurpose>
</refnamediv>

<refsect1 id='overview'><title>OVERVIEW</title>

<para><application>gpsd</application> is a service daemon that can be used
to monitor GPSes, DGPS receivers, Marine AIS broadcasts, and various other
location-related and kinematic sensors.</para>

<para>Clients may communicate with <application>gpsd</application> via
textual requests and responses over a socket. It is a bad idea for
applications to speak the protocol directly: rather, they should use
the <application>libgps</application> client library (for C; bindings
also exist for other languages) and take appropriate care to
conditionalize their code on the major and minor protocol version
symbols.</para>

<para>The GPSD protocol is built on top of JSON, JavaScript
Object Notation. GPSD's use of JSON is restricted in some ways
that make parsing it in fixed-extent languages (such as C) easier.</para>

<para>A request line is introduced by "?" and may include multiple
commands.  Commands begin with a command identifier, followed either
by a terminating ';' or by an equal sign "=" and a JSON object treated
as an argument.  Any ';' or newline indication (either LF or CR-LF)
after the end of a command is ignored. All request lines must be
composed of US-ASCII characters and may be no more than 80 characters
in length, exclusive of the trailing newline.</para>

<para>Responses are JSON objects all of which have a "class" attribute
the value of which is either the name of the invoking command.  There
are reports (including but not limited to as "TPV", "SKY", "DEVICE",
and "ERROR") which are not direct responses to commands.</para>

<para> The order of JSON attributes within a response object is never
significant, and you may specify attributes in commands in any
order. Responses never contain the special JSON value null; instead,
attributes with empty or undefined values are omitted. The length
limit for responses and reports is 1536 characters, including trailing
newline; longer responses will be truncated, so client code must be
prepared for the possibility of invalid JSON fragments.</para>

<para>In JSON reports, if an attribute is present only if the parent 
attribute is present or has a particular range, then the parent
attribute is emitted first.</para>

<para>There is one constraint on the order in which attributes will
be omitted. If an optional attribute is present only when a parent
attribute has a specified value or range of values, the parent
attribute will be emitted first to make parsing easier.</para>

<para>The next subsection section documents the core GPSD protocol.
Extensions are documented in the following subsections. The extensions
may not be supported in your <application>gpsd</application> instance
if it has been compiled with a restricted feature set.</para>

</refsect1>
<refsect1 id='core-protocol'><title>CORE SOCKET PROTOCOL</title>

<para>Here are the core-protocol responses:</para>

<variablelist>
<varlistentry>
<term>TPV</term>
<listitem>
<para>A TPV object is a time-position-velocity report. The "class" and "mode"
fields will reliably be present. The "mode" field will be emitted
before optional fields that may be absent when there is no fix. Error
estimates will be emitted after the fix components they're associated with.
Others may be reported or not depending on the fix quality.</para>

<table frame="all" pgwide="0"><title>TPV object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "TPV"</entry>
</row>
<row>
	<entry>tag</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Type tag associated with this GPS sentence; from an NMEA
	device this is just the NMEA sentence type.</entry>
</row>
<row>
	<entry>device</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Name of originating device.</entry>
</row>
<row>
	<entry>mode</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>NMEA mode: %d, 0=no mode value yet seen, 1=no fix, 2=2D, 3=3D.</entry>
</row>
<row>
	<entry>time</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Time/date stamp in ISO8601 format, UTC. May have a
	fractional part of up to .001sec precision. May be absent if mode 
        is not 2 or 3.</entry>
</row>
<row>
	<entry>ept</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Estimated timestamp error (%f, seconds, 95% confidence). 
        Present if time is present.</entry>
</row>
<row>
	<entry>lat</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Latitude in degrees: +/- signifies West/East.  Present
        when mode is 2 or 3.</entry>
</row>
<row>
	<entry>lon</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Longitude in degrees: +/- signifies North/South. Present
        when mode is 2 or 3.</entry>
</row>
<row>
	<entry>alt</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Altitude in meters. Present if mode is 3.</entry>
</row>
<row>
	<entry>epx</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Longitude error estimate in meters, 95% confidence. Present 
        if mode is 2 or 3 and DOPs can be calculated from the satellite 
        view.</entry>
</row>
<row>
	<entry>epy</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Latitude error estimate in meters, 95% confidence. Present 
        if mode is 2 or 3 and DOPs can be calculated from the satellite 
        view.</entry>
</row>
<row>
	<entry>epv</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Estimated vertical error in meters, 95% confidence. Present 
        if mode is 3 and DOPs can be calculated from the satellite 
        view.</entry>
</row>
<row>
	<entry>track</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Course over ground, degrees from true north.</entry>
</row>
<row>
	<entry>speed</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Speed over ground, meters per second.</entry>
</row>
<row>
	<entry>climb</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Climb (positive) or sink (negative) rate, meters per
	second.</entry>
</row>
<row>
	<entry>epd</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Direction error estimate in degrees, 95% confidence.</entry>
</row>
<row>
	<entry>eps</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Speed error estinmate in meters/sec, 95% confidence.</entry>
</row>
<row>
	<entry>epc</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Climb/sink error estimate in meters/sec, 95% confidence.</entry>
</row>

</tbody>
</tgroup>
</table>

<para>When the C client library parses a response of this kind, it
will assert validity bits in the top-level set member for each
field actually received; see gps.h for bitmask names and values.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"TPV","tag":"MID2","device":"/dev/pts/1",
    "time":"2005-06-08T10:34:48.283Z","ept":0.005,
    "lat":46.498293369,"lon":7.567411672,"alt":1343.127,
    "eph":36.000,"epv":32.321,
    "track":10.3788,"speed":0.091,"climb":-0.085,"mode":3}
</programlisting>
</listitem>
</varlistentry>

<varlistentry>
<term>SKY</term>
<listitem>
<para>A SKY object reports a sky view of the GPS satellite positions.
If there is no GPS device available, or no skyview has been reported
yet, only the "class" field will reliably be present.</para>

<table frame="all" pgwide="0"><title>SKY object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "SKY"</entry>
</row>
<row>
	<entry>tag</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Type tag associated with this GPS sentence; from an NMEA
	device this is just the NMEA sentence type.</entry>
</row>
<row>
	<entry>device</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Name of originating device</entry>
</row>
<row>
	<entry>time</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Time/date stamp in ISO8601 format, UTC. May have a
	fractional part of up to .001sec precision.</entry>
</row>
<row>
	<entry>xdop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Longitudinal dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get an
	error estimate.</entry>
</row>
<row>
	<entry>ydop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Latitudinal dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get an
	error estimate.</entry>
</row>
<row>
	<entry>vdop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Altitude dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get an
	error estimate.</entry>
</row>
<row>
	<entry>tdop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Time dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get an
	error estimate.</entry>
</row>
<row>
	<entry>hdop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Horizontal dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get a
	circular error estimate.</entry>
</row>
<row>
	<entry>pdop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Spherical dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get an
	error estimate.</entry>
</row>
<row>
	<entry>gdop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Hyperspherical dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get an
	error estimate.</entry>
</row>
<row>
	<entry>xdop</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Longitudinal dilution of precision, a dimensionless
	factor which should be multiplied by a base UERE to get an
	error estimate.</entry>
</row>
<row>
	<entry>satellites</entry>
	<entry>Yes</entry>
	<entry>list</entry>
        <entry>List of satellite objects in skyview</entry>
</row>

</tbody>
</tgroup>
</table>

<para>Many devices compute dilution of precision factors but do not
include them in their reports.  Many that do report DOPs report only
HDOP, two-dimensional circular error. <application>gpsd</application>
always passes through whatever the device actually reports, then
attempts to fill in other DOPs by calculating the appropriate
determinants in a covariance matrix based on the satellite view. DOPs
may be missing if some of these determinants are singular. It can even
happen that the device reports an error estimate in meters when the
corresponding DOP is unavailable; some devices use more sophisticated
error modeling than the covariance calculation.</para>

<para>The satellite list objects have the following elements:</para>

<table frame="all" pgwide="0"><title>Satellite object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>PRN</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>PRN ID of the satellite. 1-63 are GNSS satellites, 
	64-96 are GLONASS satellites, 100-164 are SBAS satellites</entry>
</row>
<row>
	<entry>az</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>Azimuth, degrees from true north.</entry>
</row>
<row>
	<entry>el</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>Elevation in degrees.</entry>
</row>
<row>
	<entry>ss</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>Signal strength in dB.</entry>
</row>
<row>
	<entry>used</entry>
	<entry>Yes</entry>
	<entry>boolean</entry>
        <entry>Used in current solution? (SBAS/WAAS/EGNOS satellites
	may be flagged used if the solution has corrections from them,
	but not all drivers make this information available.)</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Note that satellite objects do not have a "class" field, as
they are never shipped outside of a SKY object.</para>

<para>When the C client library parses a SKY response, it
will assert the SATELLITE_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"SKY","tag":"MID2","device":"/dev/pts/1",
    "time":"2005-07-08T11:28:07.114Z",
    "xdop":1.55,"hdop":1.24,"pdop":1.99,
    "satellites":[
        {"PRN":23,"el":6,"az":84,"ss":0,"used":false},
        {"PRN":28,"el":7,"az":160,"ss":0,"used":false},
        {"PRN":8,"el":66,"az":189,"ss":44,"used":true},
        {"PRN":29,"el":13,"az":273,"ss":0,"used":false},
        {"PRN":10,"el":51,"az":304,"ss":29,"used":true},
        {"PRN":4,"el":15,"az":199,"ss":36,"used":true},
        {"PRN":2,"el":34,"az":241,"ss":43,"used":true},
        {"PRN":27,"el":71,"az":76,"ss":43,"used":true}]}
</programlisting>

</listitem>
</varlistentry>

<varlistentry>
<term>GST</term>
<listitem>
<para>A GST object is a pseudorange noise report.</para>

<table frame="all" pgwide="0"><title>GST object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "GST"</entry>
</row>
<row>
	<entry>tag</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Type tag associated with this GPS sentence; from an NMEA
device this is just the NMEA sentence type.</entry>
</row>
<row>
	<entry>device</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Name of originating device</entry>
</row>
<row>
	<entry>time</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Seconds since the Unix epoch, UTC. May have a
fractional part of up to .001sec precision.</entry>
</row>

<row>
	<entry>rms</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Value of the standard deviation of the range inputs to the
navigation process (range inputs include pseudoranges and DGPS
corrections).</entry>
</row>

<row>
	<entry>major</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Standard deviation of semi-major axis of error ellipse, in meters.</entry>
</row>

<row>
	<entry>minor</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Standard deviation of semi-minor axis of error ellipse, in meters.</entry>
</row>

<row>
	<entry>orient</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Orientation of semi-major axis of error ellipse, in degrees from true north.</entry>
</row>

<row>
	<entry>lat</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Standard deviation of latitude error, in meters.</entry>
</row>

<row>
	<entry>lon</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Standard deviation of longitude error, in meters.</entry>
</row>

<row>
	<entry>alt</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Standard deviation of altitude error, in meters.</entry>
</row>

</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"GST","tag":"GST","device":"/dev/ttyUSB0",
        "time":"2010-12-07T10:23:07.096Z","rms":2.440,
        "major":1.660,"minor":1.120,"orient":68.989,
        "lat":1.600,"lon":1.200,"alt":2.520}
</programlisting>
</listitem>
</varlistentry>

<varlistentry>
<term>ATT</term>
<listitem>
<para>An ATT object is a vehicle-attitude report. It is returned by
digital-compass and gyroscope sensors; depending on device, it may
include: heading, pitch, roll, yaw, gyroscope, and magnetic-field
readings. Because such sensors are often bundled as part of
marine-navigation systems, the ATT response may also include
water depth.</para>

<para>The "class", "mode", and "tag" fields will reliably be present.  Others
may be reported or not depending on the specific device type.</para>

<table frame="all" pgwide="0"><title>ATT object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "ATT"</entry>
</row>
<row>
	<entry>tag</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Type tag associated with this GPS sentence; from an NMEA
	device this is just the NMEA sentence type.</entry>
</row>
<row>
	<entry>device</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Name of originating device</entry>
</row>
<row>
	<entry>time</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>Seconds since the Unix epoch, UTC. May have a
	fractional part of up to .001sec precision.</entry>
</row>
<row>
	<entry>heading</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Heading, degrees from true north.</entry>
</row>
<row>
	<entry>mag_st</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Magnetometer status.</entry>
</row>
<row>
	<entry>pitch</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Pitch in degrees.</entry>
</row>
<row>
	<entry>pitch_st</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Pitch sensor status.</entry>
</row>
<row>
	<entry>yaw</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Yaw in degrees</entry>
</row>
<row>
	<entry>yaw_st</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Yaw sensor status.</entry>
</row>
<row>
	<entry>roll</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Roll in degrees.</entry>
</row>
<row>
	<entry>roll_st</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Roll sensor status.</entry>
</row>
<row>
	<entry>dip</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Local magnetic inclination, degrees, positive when the magnetic
field points downward (into the Earth).</entry>
</row>
<row>
	<entry>mag_len</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Scalar magnetic field strength.</entry>
</row>
<row>
	<entry>mag_x</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>X component of magnetic field strength.</entry>
</row>
<row>
	<entry>mag_y</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Y component of magnetic field strength.</entry>
</row>
<row>
	<entry>mag_z</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Z component of magnetic field strength.</entry>
</row>
<row>
	<entry>acc_len</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Scalar acceleration.</entry>
</row>
<row>
	<entry>acc_x</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>X component of acceleration.</entry>
</row>
<row>
	<entry>acc_y</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Y component of acceleration.</entry>
</row>
<row>
	<entry>acc_z</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Z component of acceleration.</entry>
</row>
<row>
	<entry>gyro_x</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>X component of acceleration.</entry>
</row>
<row>
	<entry>gyro_y</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Y component of acceleration.</entry>
</row>
<row>
	<entry>depth</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Water depth in meters.</entry>
</row>
<row>
	<entry>temperature</entry>
	<entry>No</entry>
	<entry>numeric</entry>
        <entry>Temperature at sensor, degrees centigrade.</entry>
</row>


</tbody>
</tgroup>
</table>

<para>The heading, pitch, and roll status codes (if present) vary by device.
For the TNT Revolution digital compasses, they are coded as follows: </para>

<table frame="all" pgwide="0"><title>Device flags</title>
<tgroup cols="2" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Code</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>C</entry>
	<entry>magnetometer calibration alarm</entry>
</row>
<row>
	<entry>L</entry>
	<entry>low alarm</entry>
</row>
<row>
	<entry>M</entry>
	<entry>low warning</entry>
</row>
<row>
	<entry>N</entry>
	<entry>normal</entry>
</row>
<row>
	<entry>O</entry>
	<entry>high warning</entry>
</row>
<row>
	<entry>P</entry>
	<entry>high alarm</entry>
</row>
<row>
	<entry>V</entry>
	<entry>magnetometer voltage level alarm</entry>
</row>
</tbody>
</tgroup>
</table>


<para>When the C client library parses a response of this kind, it
will assert ATT_IS.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"ATT","tag":"PTNTHTM","time":1270938096.843,
    "heading":14223.00,"mag_st":"N",
    "pitch":169.00,"pitch_st":"N", "roll":-43.00,"roll_st":"N",
    "dip":13641.000,"mag_x":2454.000}
</programlisting>
</listitem>
</varlistentry>

</variablelist>

<para>And here are the commands:</para>

<variablelist>

<varlistentry>
<term>?VERSION;</term>
<listitem><para>Returns an object with the following attributes:</para>

<table frame="all" pgwide="0"><title>VERSION object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "VERSION"</entry>
</row>
<row>
	<entry>release</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Public release level</entry>
</row>
<row>
	<entry>rev</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Internal revision-control level.</entry>
</row>
<row>
	<entry>proto_major</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>API major revision level.</entry>
</row>
<row>
	<entry>proto_minor</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>API minor revision level.</entry>
</row>
<row>
	<entry>remote</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>URL of the remote daemon reporting this version. If
        empty, this is the version of the local daemon.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>The daemon ships a VERSION response to each client when the
client first connects to it.</para>

<para>When the C client library parses a response of this kind, it
will assert the VERSION_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"VERSION","version":"2.40dev",
    "rev":"06f62e14eae9886cde907dae61c124c53eb1101f",
    "proto_major":3,"proto_minor":1
}
</programlisting>


</listitem>
</varlistentry>

<varlistentry>
<term>?DEVICES;</term>
<listitem><para>Returns a device list object with the
following elements:</para>

<table frame="all" pgwide="0"><title>DEVICES object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "DEVICES"</entry>
</row>
<row>
	<entry>devices</entry>
	<entry>Yes</entry>
	<entry>list</entry>
        <entry>List of device descriptions</entry>
</row>
<row>
	<entry>remote</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>URL of the remote daemon reporting the device set. If
        empty, this is a DEVICES response from the local daemon.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>When the C client library parses a response of this kind, it
will assert the DEVICELIST_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class"="DEVICES","devices":[
    {"class":"DEVICE","path":"/dev/pts/1","flags":1,"driver":"SiRF binary"},
    {"class":"DEVICE","path":"/dev/pts/3","flags":4,"driver":"AIVDM"}]}
</programlisting>

<para>The daemon occasionally ships a bare DEVICE object to the client
(that is, one not inside a DEVICES wrapper). The data content of these
objects will be described later as a response to the ?DEVICE command.</para>

</listitem>
</varlistentry>

<varlistentry>
<term>?WATCH;</term>
<listitem>

<para>This command sets watcher mode. It also sets or elicits a report
of per-subscriber policy and the raw bit.  An argument WATCH object
changes the subscriber's policy. The response describes the
subscriber's policy. The response will also include a DEVICES
object.</para>

<para>A WATCH object has the following elements:</para>

<table frame="all" pgwide="0"><title>WATCH object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "WATCH"</entry>
</row>
<row>
	<entry>enable</entry>
	<entry>No</entry>
	<entry>boolean</entry>
        <entry>Enable (true) or disable (false) watcher mode. Default
	is true.</entry>
</row>
<row>
	<entry>json</entry>
	<entry>No</entry>
	<entry>boolean</entry>
        <entry>Enable (true) or disable (false) dumping of JSON reports.
	Default is false.</entry>
</row>
<row>
	<entry>nmea</entry>
	<entry>No</entry>
	<entry>boolean</entry>
        <entry>Enable (true) or disable (false) dumping of binary
	packets as pseudo-NMEA. Default
	is false.</entry>
</row>
<row>
	<entry>raw</entry>
        <entry>No</entry>
        <entry>integer</entry>

	<entry>Controls 'raw' mode. When this attribute is set to 1
	for a channel, <application>gpsd</application> reports the
	unprocessed NMEA or AIVDM data stream from whatever device is attached.
	Binary GPS packets are hex-dumped.  RTCM2 and RTCM3
        packets are not dumped in raw mode. When this attribute is set to
	2 for a channel that processes binary data,
	<application>gpsd</application> reports the received data verbatim
	without hex-dumping.</entry>
</row>
<row>
	<entry>scaled</entry>
	<entry>No</entry>
	<entry>boolean</entry>
        <entry>If true, apply scaling divisors to output before
	dumping; default is false. Applies only to AIS and Subframe
	reports.</entry>
</row>
<row>
	<entry>device</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>If present, enable watching only of the specified device
	rather than all devices.  Useful with raw and NMEA modes
	in which device responses aren't tagged. Has no effect when
	used with enable:false.</entry>
</row>
<row>
	<entry>remote</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>URL of the remote daemon reporting the watch set. If
        empty, this is a WATCH response from the local daemon.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>There is an additional boolean "timing" attribute which is
undocumented because that portion of the interface is considered
unstable and for developer use only.</para>

<para>In watcher mode, GPS reports are dumped as TPV and SKY
responses. AIS, Subframe and RTCM reporting is described in the next
section.</para>

<para>When the C client library parses a response of this kind, it
will assert the POLICY_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"WATCH", "raw":1,"scaled":true}
</programlisting>

</listitem>
</varlistentry>

<varlistentry>
<term>?POLL;</term>
<listitem>

<para>The POLL command requests data from the last-seen fixes on all
active GPS devices.  Devices must previously have been activated by
?WATCH to be pollable.</para>

<para>Polling can lead to possibly surprising results when it is used
on a device such as an NMEA GPS for which a complete fix has to be
accumulated from several sentences. If you poll while those sentences
are being emitted, the response will contain the last complete fix
data and may be as much as one cycle time (typically 1 second)
stale.</para>

<para>The POLL response will contain a timestamped list of TPV objects
describing cached data, and a timestamped list of SKY objects
describing satellite configuration. If a device has not seen fixes, it
will be reported with a mode field of zero.</para>

<table frame="all" pgwide="0"><title>POLL object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "POLL"</entry>
</row>
<row>
	<entry>time</entry>
	<entry>Yes</entry>
	<entry>Numeric</entry>
        <entry>Timestamp in ISO 8601 format. May have a
	fractional part of up to .001sec precision.</entry>
</row>
<row>
	<entry>active</entry>
	<entry>Yes</entry>
	<entry>Numeric</entry>
        <entry>Count of active devices.</entry>
</row>
<row>
	<entry>fixes</entry>
	<entry>Yes</entry>
	<entry>JSON array</entry>
        <entry>Comma-separated list of TPV objects.</entry>
</row>
<row>
	<entry>skyviews</entry>
	<entry>Yes</entry>
	<entry>JSON array</entry>
        <entry>Comma-separated list of SKY objects.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example of a POLL response:</para>

<programlisting>
{"class":"POLL","time":"2010-06-04T10:31:00.289Z","active":1,
    "tpv":[{"class":"TPV","tag":"MID41","device":"/dev/ttyUSB0",
            "time":"2010-09-08T13:33:06.095Z",
	    "ept":0.005,"lat":40.035093060,
            "lon":-75.519748733,"track":99.4319,"speed":0.123,"mode":2}],
    "sky":[{"class":"SKY","tag":"MID41","device":"/dev/ttyUSB0",
            "time":1270517264.240,"hdop":9.20,
            "satellites":[{"PRN":16,"el":55,"az":42,"ss":36,"used":true},
                          {"PRN":19,"el":25,"az":177,"ss":0,"used":false},
                          {"PRN":7,"el":13,"az":295,"ss":0,"used":false},
                          {"PRN":6,"el":56,"az":135,"ss":32,"used":true},
                          {"PRN":13,"el":47,"az":304,"ss":0,"used":false},
                          {"PRN":23,"el":66,"az":259,"ss":0,"used":false},
                          {"PRN":20,"el":7,"az":226,"ss":0,"used":false},
                          {"PRN":3,"el":52,"az":163,"ss":32,"used":true},
                          {"PRN":31,"el":16,"az":102,"ss":0,"used":false}
]}]}
</programlisting>

<note>
<para>Client software should not assume the field inventory of the
POLL response is fixed for all time.  As
<application>gpsd</application> collects and caches more data from
more sensor types, those data are likely to find their way
into this response.</para>
</note>

</listitem>
</varlistentry>

<varlistentry>
<term>PPS</term>
<listitem>

<para>This message is emitted each time the daemon sees a PPS (Pulse
Per Second) strobe from a device.</para>

<para>A PPS object has the following elements:</para>

<table frame="all" pgwide="0"><title>PPS object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "PPS"</entry>
</row>
<row>
	<entry>device</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Name of originating device</entry>
</row>
<row>
	<entry>real_sec</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>seconds from the realtime clock</entry>
</row>
<row>
	<entry>real_musec</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>microseconds from the realtime clock</entry>
</row>
<row>
	<entry>clock_sec</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>seconds from the system clock</entry>
</row>
<row>
	<entry>clock_musec</entry>
	<entry>Yes</entry>
	<entry>numeric</entry>
        <entry>microseconds from the system clock</entry>
</row>
</tbody>
</tgroup>
</table>

<para>This message is emitted once per second to watchers of a device
emitting PPS, and is intended to report the drift between the start of
the GPS second and seconds as reported by the system clock (which may
be NTP-corrected).</para>

<para>The message contains second/microsecond pairs for two clocks;
the realtime clock without NTP correction (the result of 
clock_gettime(CLOCK_REALTIME), but only to microsecond precision) 
and the ordinary system clock (which may be NTP corrected).</para>

<para>There are various sources of error in the reported clock times.
For PPS delivered via a real serial-line strobe, serial-interrupt
latency plus processing time to the timer call should be bounded above
by about 10 microseconds; USB-to-serial control-line emulation is
known to add jitter of about 50 microseconds.  (Both figures are for
GPSD running in non-realtime mode on an x86 with a gigahertz clock and
are estimates based on measured latency in other applications)</para>

<para>Here's an example:</para>

<programlisting>
{"class":"PPS","device":"/dev/ttyUSB0",
     "real_sec":1330212592, "real_musec":343182,
     "clock_sec":1330212592,"clock_musec":343184}
</programlisting>

</listitem>
</varlistentry>

<varlistentry>
<term>?DEVICE</term>
<listitem>

<para>This command reports (when followed by ';') the state of a
device, or sets (when followed by '=' and a DEVICE object)
device-specific control bits, notably the device's speed and serial
mode and the native-mode bit.  The parameter-setting form will be rejected if
more than one client is attached to the channel.</para>

<para>Pay attention to the response, because it is
possible for this command to fail if the GPS does not support a
speed-switching command or only supports some combinations of
serial modes.  In case of failure, the daemon and GPS will
continue to communicate at the old speed.</para>

<para>Use the parameter-setting form with caution.  On USB and
Bluetooth GPSes it is also possible for serial mode setting to fail
either because the serial adaptor chip does not support non-8N1 modes
or because the device firmware does not properly synchronize the
serial adaptor chip with the UART on the GPS chipset when the speed
changes. These failures can hang your device, possibly requiring a GPS
power cycle or (in extreme cases) physically disconnecting the NVRAM
backup battery.</para>

<para>A DEVICE object has the following elements:</para>

<table frame="all" pgwide="0"><title>CONFIGCHAN object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "DEVICE"</entry>
</row>
<row>
	<entry>path</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Name the device for which the control bits are
	being reported, or for which they are to be applied. This
        attribute may be omitted only when there is exactly one
        subscribed channel.</entry>
</row>
<row>
	<entry>activated</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>Time the device was activated as an ISO8601
        timestamp. If the device is inactive this attribute is
        absent.</entry>
</row>
<row>
	<entry>flags</entry>
	<entry>No</entry>
	<entry>integer</entry>
        <entry>Bit vector of property flags.  Currently defined flags are:
        describe packet types seen so far (GPS, RTCM2, RTCM3,
	AIS). Won't be reported if empty, e.g. before
	<application>gpsd</application> has seen identifiable packets
	from the device.</entry>
</row>
<row>
	<entry>driver</entry>
	<entry>No</entry>
	<entry>string</entry>
        <entry>GPSD's name for the device driver type. Won't be reported before
	<application>gpsd</application> has seen identifiable packets
	from the device.</entry>
</row>
<row>
	<entry>subtype</entry>
	<entry>When the daemon sees a delayed response to a probe for
	subtype or firmware-version information.</entry>
	<entry>string</entry>
	<entry>Whatever version information the device returned.</entry>
</row>
<row>
	<entry>bps</entry>
	<entry>No</entry>
	<entry>integer</entry>
        <entry>Device speed in bits per second.</entry>
</row>
<row>
	<entry>parity</entry>
        <entry>Yes</entry>
        <entry>string</entry>
	<entry><para>N, O or E for no parity, odd, or even.</para></entry>
</row>
<row>
	<entry>stopbits</entry>
        <entry>Yes</entry>
        <entry>string</entry>
	<entry><para>Stop bits (1 or 2).</para></entry>
</row>
<row>
	<entry>native</entry>
	<entry>No</entry>
	<entry>integer</entry>
        <entry>0 means NMEA mode and 1 means
	alternate mode (binary if it has one, for SiRF and Evermore chipsets
	in particular). Attempting to set this mode on a non-GPS
	device will yield an error.</entry>
</row>
<row>
	<entry>cycle</entry>
	<entry>No</entry>
	<entry>real</entry>
        <entry>Device cycle time in seconds.</entry>
</row>
<row>
	<entry>mincycle</entry>
	<entry>No</entry>
	<entry>real</entry>
        <entry>Device minimum cycle time in seconds. Reported from
	?CONFIGDEV when (and only when) the rate is switchable. It is
	read-only and not settable.</entry>
</row>
</tbody>
</tgroup>
</table>

<para>The serial parameters will be omitted in a response describing a
TCP/IP source such as an Ntrip, DGPSIP, or AIS feed.</para>

<para>The contents of the flags field should be interpreted as follows:</para>

<table frame="all" pgwide="0"><title>Device flags</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>C #define</entry>
	<entry>Value</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>SEEN_GPS</entry>
	<entry>0x01</entry>
	<entry>GPS data has been seen on this device</entry>
</row>
<row>
	<entry>SEEN_RTCM2</entry>
	<entry>0x02</entry>
	<entry>RTCM2 data has been seen on this device</entry>
</row>
<row>
	<entry>SEEN_RTCM3</entry>
	<entry>0x04</entry>
	<entry>RTCM3 data has been seen on this device</entry>
</row>
<row>
	<entry>SEEN_AIS</entry>
	<entry>0x08</entry>
	<entry>AIS data has been seen on this device</entry>
</row>
</tbody>
</tgroup>
</table>

<!--
<para>The mincycle member may be 0, indicating no hard lower limit on the
cycle time. On an NMEA device of this kind it is possible to try to
push more characters through per cycle than the time to transmit will
allow. You must set the time high enough to let all sentences come
through.  Here are the maxima to use for computation:</para>

<table frame='all'>
<tgroup cols='2'>
<tbody>
<row><entry>ZDA       </entry><entry>36</entry></row>
<row><entry>GLL       </entry><entry>47</entry></row>
<row><entry>GGA       </entry><entry>82</entry></row>
<row><entry>VTG       </entry><entry>46</entry></row>
<row><entry>RMC       </entry><entry>77</entry></row>
<row><entry>GSA       </entry><entry>67</entry></row>
<row><entry>GSV       </entry><entry>60 (per line, thus 180 for a set of 3)</entry> </row>
</tbody>
</tgroup>
</table>

<para>The transmit time for a cycle (which must be less than 1 second)
is the total character count multiplied by 10 and divided by the baud
rate. A typical budget is GGA, RMC, GSA, 3*GSV = 82+75+67+(3*60) =
404.</para>
-->

<para>When the C client library parses a response of this kind, it
will assert the DEVICE_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"DEVICE","bps":4800,"parity":"N","stopbits":1,"native":0}
</programlisting>

</listitem>
</varlistentry>

</variablelist>

<para>When a client is in watcher mode, the daemon will ship it DEVICE
notifications when a device is added to the pool or
deactivated.</para>

<para>When the C client library parses a response of this kind, it
will assert the DEVICE_SET bit in the top-level set member.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"DEVICE","path":"/dev/pts1","activated":0}
</programlisting>

<para>The daemon may ship an error object in response to a
syntactically invalid command line or unknown command. It has
the following elements:</para>

<table frame="all" pgwide="0"><title>ERROR notification object</title>
<tgroup cols="4" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Always?</entry>
	<entry>Type</entry>
	<entry>Description</entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>Yes</entry>
	<entry>string</entry>
        <entry>Fixed: "ERROR"</entry>
</row>
<row>
	<entry>message</entry>
	<entry>Yes</entry>
	<entry>string</entry>
	<entry>Textual error message</entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"ERROR","message":"Unrecognized request '?FOO'"}
</programlisting>

<para>When the C client library parses a response of this kind, it
will assert the ERR_SET bit in the top-level set member.</para>

</refsect1>

<refsect1 id='rtcm2'><title>RTCM2</title>

<para>RTCM-104 is a family of serial protocols used for broadcasting pseudorange
corrections from differential-GPS reference stations. Many GPS receivers can
accept these corrections to improve their reporting accuracy.</para>

<para>RTCM-104 comes in two major and incompatible flavors, 2.x and
3.x.  Each major flavor has minor (compatible) revisions.</para>

<para>The applicable standard for RTCM Version 2.x is <citetitle>RTCM
Recommended Standards for Differential NAVSTAR GPS Service</citetitle>
RTCM Paper 194-93/SC 104-STD. For RTCM 3.1 it is <citetitle>RTCM Paper
177-2006-SC104-STD</citetitle>.  Ordering instructions for both
standards are accessible from the website of the <ulink
url='http://www.rtcm.org/'>Radio Technical Commission for Maritime
Services</ulink> under "Publications".</para>

<refsect2 id='wire-format'><title>RTCM WIRE TRANSMISSIONS</title>

<para>Differential-GPS correction stations consist of a GPS reference
receiver coupled to a low frequency (LF) transmitter.  The GPS
reference receiver is a survey-grade GPS that does GPS carrier
tracking and can work out its own position to a few millimeters.  It
generates range and range-rate corrections and encodes them into
RTCM104. It ships the RTCM104 to the LF transmitter over serial rs-232
signal at 100 baud or 200 baud depending on the requirements of the
transmitter.</para>

<para>The LF transmitter broadcasts the approximately 300khz radio
signal that differential-GPS radio receivers pick up.  Transmitters
that are meant to have a higher range will need to transmit at the
slower rate.  The higher the data rate the harder it will be for the
remote radio receiver to receive with a good signal-to-noise ration.
(Higher data rate signals can't be averaged over as long a time frame,
hence they appear noisier.)</para>

</refsect2>
<refsect2 id='rtcm-wire-format'><title>RTCM WIRE FORMATS</title>

<para>An RTCM 2.x message consists of a sequence of up to 33 30-bit
words. The 24 most significant bits of each word are data and the six
least significant bits are parity. The parity algorithm used is the
same ISGPS-2000 as that used on GPS satellite downlinks.  Each RTCM
2.x message consists of two header words followed by zero or more data
words, depending upon message type.</para>

<para>An RTCM 3.x message begins with a fixed leader byte 0xD3.  That
is followed by six bits of version information and 10 bits of payload
length information.  Following that is the payload; following the
payload is a 3-byte checksum of the payload using the Qualcomm CRC-24Q
algorithm.</para>

</refsect2>
<refsect2 id='rtcm2-dump-format2'><title>RTCM2 JSON FORMAT</title>

<para>Each RTCM2 message is dumped as a single JSON object per
message, with the message fields as attributes of that object.  Arrays
of satellite, station, and constellation statistics become arrays of
JSON sub-objects. Each sentence will normally also have a "device"
field containing the pathname of the originating device.</para>

<para>All attributes other than the device field are mandatory. Header
attributes are emitted before others.</para>

<refsect3><title>Header portion</title>

<table frame="all" pgwide="0"><title>SKY object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>class</entry>
	<entry>string</entry>
        <entry><para>Fixed: "RTCM2".</para></entry>
</row>
<row>
	<entry>type</entry>
	<entry>integer</entry>
        <entry><para>Message type (1-9).</para></entry>
</row>
<row>
	<entry>station_id</entry>
	<entry>integer</entry>
        <entry><para>The id of the GPS reference receiver. The
	LF transmitters also have (different) id numbers.</para></entry>
</row>
<row>
	<entry>zcount</entry>
	<entry>real</entry>
        <entry><para>The reference time of the
	corrections in the message in seconds within the current hour. Note
	that it is in GPS time, which is some seconds ahead of UTC (see the
	U.S. Naval Observatory's <ulink
	url="ftp://maia.usno.navy.mil/ser7/tai-utc.dat">table of leap second
	corrections</ulink>).</para></entry>
</row>
<row>
	<entry>seqnum</entry>
	<entry>integer</entry>
        <entry><para>Sequence number. Only 3 bits wide, wraps after 7.</para></entry>
</row>
<row>
	<entry>length</entry>
	<entry>integer</entry>
        <entry><para>The number of words after the header that comprise the
        message.</para></entry>
</row>
<row>
	<entry>station_health</entry>
	<entry>integer</entry>
        <entry><para>Station transmission status. Indicates the health of
        the beacon as a reference source.  Any nonzero value means the
        satellite is probably transmitting bad data and should not be
        used in a fix. 6 means the transmission is unmonitored. 7
        means the station is not working properly. Other values are
        defined by the beacon operator.</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>&lt;message type&gt; is one of</para>

<variablelist>
<varlistentry>
<term>1</term>
<listitem><para>full corrections - one message containing corrections for
all GPS satellites in view. This is not common.</para></listitem>
</varlistentry>

<varlistentry>
<term>3</term>
<listitem><para>reference station parameters - the position of the
reference station GPS antenna.</para></listitem>
</varlistentry>

<varlistentry>
<term>4</term>
<listitem><para>datum &mdash; the datum to which the DGPS data is
referred.</para></listitem>
</varlistentry>

<varlistentry>
<term>5</term>
<listitem><para>constellation health &mdash; information about the
satellites the beacon can see.</para></listitem>
</varlistentry>

<varlistentry>
<term>6</term>
<listitem><para>null message &mdash; just a filler.</para></listitem>
</varlistentry>

<varlistentry>
<term>7</term>
<listitem><para>radio beacon almanac &mdash; information about this or other beacons.</para></listitem>
</varlistentry>

<varlistentry>
<term>9</term>
<listitem><para>subset corrections &mdash; a message containing corrections
for only a subset of the GPS satellites in view.</para></listitem>
</varlistentry>

<varlistentry>
<term>16</term>
<listitem><para>special message &mdash; a text message from the beacon
operator.</para></listitem>
</varlistentry>

<varlistentry>
<term>31</term>
<listitem><para>GLONASS subset corrections &mdash; a message
containing corrections for a set of the GLONASS satellites in
view.</para></listitem>
</varlistentry>


</variablelist>

</refsect3>
<refsect3><title>Type 1 and 9: Correction data</title>

<para>One or more satellite objects follow the header for type 1 or type 9
messages. Here is the format:</para>

<table frame="all" pgwide="0"><title>Satellite object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>ident</entry>
	<entry>integer</entry>
        <entry><para>The PRN number of the satellite for which this is
	correction data.</para></entry>
</row>
<row>
	<entry>udre</entry>
	<entry>integer</entry>
        <entry><para>User Differential Range Error (0-3). See the
        table following for values.</para></entry>
</row>
<row>
	<entry>iod</entry>
	<entry>integer</entry>
        <entry><para>Issue Of Data, matching the IOD for the current
        ephemeris of this satellite, as transmitted by the satellite.
        The IOD is a unique tag that identifies the ephemeris; the GPS
        using the DGPS correction and the DGPS generating the data
        must use the same orbital positions for the
        satellite.</para></entry>
</row>
<row>
	<entry>prc</entry>
	<entry>real</entry>
        <entry><para>The pseudorange error in meters for this
        satellite as measured by the beacon reference receiver at the
        epoch indicated by the z_count in the parent
        record.</para></entry>
</row>
<row>
	<entry>rrc</entry>
	<entry>real</entry>
        <entry><para>The rate of change of pseudorange error in
        meters/sec for this satellite as measured by the beacon
        reference receiver at the epoch indicated by the z_count field
        in the parent record. This is used to calculate pseudorange
        errors at other epochs, if required by the GPS
        receiver.</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>User Differential Range Error values are as follows:</para>

<table frame="all" pgwide="0"><title>UDRE values</title>
<tgroup cols="2" align="left" colsep="1" rowsep="1">
<tbody>
<row><entry>0</entry><entry>1-sigma error	&lt;= 1m</entry></row>
<row><entry>1</entry><entry>1-sigma error	&lt;= 4m</entry></row>
<row><entry>2</entry><entry>1-sigma error	&lt;= 8m</entry></row>
<row><entry>3</entry><entry>1-sigma error	&gt;  8m</entry></row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":1,
    "station_id":688,"zcount":843.0,"seqnum":5,"length":19,"station_health":6,
    "satellites":[
	{"ident":10,"udre":0,"iod":46,"prc":-2.400,"rrc":0.000},
	{"ident":13,"udre":0,"iod":94,"prc":-4.420,"rrc":0.000},
	{"ident":7,"udre":0,"iod":22,"prc":-5.160,"rrc":0.002},
	{"ident":2,"udre":0,"iod":34,"prc":-6.480,"rrc":0.000},
	{"ident":4,"udre":0,"iod":47,"prc":-8.860,"rrc":0.000},
	{"ident":8,"udre":0,"iod":76,"prc":-7.980,"rrc":0.002},
	{"ident":5,"udre":0,"iod":99,"prc":-8.260,"rrc":0.002},
	{"ident":23,"udre":0,"iod":81,"prc":-8.060,"rrc":0.000},
	{"ident":16,"udre":0,"iod":70,"prc":-11.740,"rrc":0.000},
	{"ident":30,"udre":0,"iod":4,"prc":-18.960,"rrc":-0.006},
	{"ident":29,"udre":0,"iod":101,"prc":-24.960,"rrc":-0.002}
]}
</programlisting>

</refsect3>
<refsect3><title>Type 3: Reference Station Parameters</title>

<para>Here are the payload members of a type 3 (Reference Station
Parameters) message:</para>

<table frame="all" pgwide="0"><title>Reference Station Parameters</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>x</entry>
	<entry>real</entry>
        <entry><para>ECEF X coordinate.</para></entry>
</row>
<row>
	<entry>y</entry>
	<entry>real</entry>
        <entry><para>ECEF Y coordinate.</para></entry>
</row>
<row>
	<entry>z</entry>
	<entry>real</entry>
        <entry><para>ECEF Z coordinate.</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>The coordinates are the position of the station, in meters to two
decimal places, in Earth Centred Earth Fixed coordinates.
These are usually referred to the WGS84 reference frame, but may
be referred to NAD83 in the US (essentially identical to WGS84 for
all except geodesists), or to some other reference frame in other
parts of the world.</para>

<para>An invalid reference message is represented by a type 3 header
without payload fields.</para>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":3,
    "station_id":652,"zcount":1657.2,"seqnum":2,"length":4,"station_health":6,
    "x":3878620.92,"y":670281.40,"z":5002093.59
}
</programlisting>

</refsect3>
<refsect3><title>Type 4: Datum</title>

<para>Here are the payload members of a type 4 (Datum) message:</para>

<table frame="all" pgwide="0"><title>Datum</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>dgnss_type</entry>
	<entry>string</entry>
        <entry><para>Either "GPS", "GLONASS", "GALILEO", or
        "UNKNOWN".</para></entry>
</row>
<row>
	<entry>dat</entry>
	<entry>integer</entry>
        <entry><para>0 or 1 and indicates the sense of the offset
        shift given by dx, dy, dz. dat = 0 means that the station
        coordinates (in the reference message) are referred to a local
        datum and that adding dx, dy, dz to that position will render
        it in GNSS coordinates (WGS84 for GPS). If dat = 1 then the
        ref station position is in GNSS coordinates and adding dx, dy,
        dz will give it referred to the local datum.</para></entry>
</row>
<row>
	<entry>datum_name</entry>
	<entry>string</entry>
        <entry><para>A standard name for the datum.</para></entry>
</row>

<row>
	<entry>dx</entry>
	<entry>real</entry>
        <entry><para>X offset.</para></entry>
</row>
<row>
	<entry>dy</entry>
	<entry>real</entry>
        <entry><para>Y offset.</para></entry>
</row>
<row>
	<entry>dz</entry>
	<entry>real</entry>
        <entry><para>Z offset.</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>&lt;dx&gt; &lt;dy&gt; &lt;dz&gt; are offsets to convert from
local datum to GNSS datum or vice versa. These fields are
optional.</para>

<para>An invalid datum message is represented by a type 4 header
without payload fields.</para>

</refsect3>
<refsect3><title>Type 5: Constellation Health</title>

<para>One or more of these follow the header for type 5 messages &mdash; one
for each satellite.</para>

<para>Here is the format:</para>

<table frame="all" pgwide="0"><title>Constellation health</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>ident</entry>
	<entry>integer</entry>
        <entry><para>The PRN number of the satellite.</para></entry>
</row>
<row>
	<entry>iodl</entry>
	<entry>bool</entry>
        <entry><para>True indicates that this information relates to
        the satellite information in an accompanying type 1 or type 9
        message.</para></entry>
</row>
<row>
	<entry>health</entry>
	<entry>integer</entry>
        <entry>0 indicates that the satellite is healthy. Any other value
	indicates a problem (coding is not known).<para></para></entry>
</row>
<row>
	<entry>snr</entry>
	<entry>integer</entry>
        <entry><para>The carrier/noise ratio of the received signal in
        the range 25 to 55 dB(Hz).</para></entry>
</row>
<row>
	<entry>health_en</entry>
	<entry>bool</entry>
        <entry><para>If set to True it indicates that the satellite is
        healthy even if the satellite navigation data says it is
        unhealthy.</para></entry>
</row>
<row>
	<entry>new_data</entry>
	<entry>bool</entry>
        <entry>True indicates that the IOD for this satellite will
        soon be updated in type 1 or 9 messages.<para></para></entry>
</row>
<row>
	<entry>los_warning</entry>
	<entry>bool</entry>
        <entry><para>Line-of-sight warning. True indicates that the
        satellite will shortly go unhealthy.</para></entry>
</row>
<row>
	<entry>tou</entry>
	<entry>integer</entry>
        <entry><para>Healthy time remaining in seconds.</para></entry>
</row>
</tbody>
</tgroup>
</table>

</refsect3>
<refsect3><title>Type 6: Null</title>

<para>This just indicates a null message. There are no payload fields.</para>
</refsect3>

<refsect3><title>Unknown message</title>

<para>This format is used to dump message words in hexadecimal when the
message type field doesn't match any of the known ones.</para>

<para>Here is the format:</para>

<table frame="all" pgwide="0"><title>Unknown Message</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>data</entry>
	<entry>list</entry>
        <entry><para>A list of strings.</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>Each string in the array is a hex literal representing 30 bits
of information, after parity checks and inversion.  The high two bits
should be ignored.</para>

</refsect3>
<refsect3><title>Type 7: Radio Beacon Almanac</title>

<para>Here is the format:</para>

<table frame="all" pgwide="0"><title>Contellation health</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>lat</entry>
	<entry>real</entry>
        <entry><para>Latitude in degrees, of the LF transmitter
        antenna for the station for which this is an almanac.  North
        is positive.</para></entry>
</row>
<row>
	<entry>lon</entry>
	<entry>real</entry>
        <entry><para>Longitude in degrees, of the LF transmitter
        antenna for the station for which this is an almanac.
        East is positive.</para></entry>
</row>
<row>
	<entry>range</entry>
	<entry>integer</entry>
        <entry>Published range of the station in km.<para></para></entry>
</row>
<row>
	<entry>frequency</entry>
	<entry>real</entry>
        <entry><para>Station broadcast frequency in kHz.</para></entry>
</row>
<row>
	<entry>health</entry>
	<entry>integer</entry>
        <entry><para>&lt;health&gt; is the health of the station for
        which this is an almanac. If it is non-zero, the station is
        issuing suspect data and should not be used for fixes.  The
        ITU and RTCM104 standards differ about the mode detailed
        interpretation of the &lt;health&gt; field and even about its
        bit width.
<!--
From itu p.9 just under the type7 msg figure:

    *** Radiobeacon health:
                  00     (0) Radiobeacon operation normal
                  01     (1) No integrity monitor operating
                  10     (2) No information available
                  11     (3) Do not use this radiobeacon
RTCM104, in the other hand, makes it 3 bits wide.

The Sager documentation said health has the same meaning as in the header.
but this cannot be true unless the field is 3 bits wide.
-->
	</para></entry>
</row>
<row>
	<entry>station_id</entry>
	<entry>integer</entry>
        <entry><para>The id of the transmitter. This is not the same
        as the reference id in the header, the latter being the id of
        the reference receiver. <!-- John Sager noted: "However I know
	of at least one station that gets it wrong." --></para></entry>
</row>
<row>
	<entry>bitrate</entry>
	<entry>integer</entry>
        <entry><para>The transmitted bitrate.</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":9,"station_id":268,"zcount":252.6,
        "seqnum":4,"length":5,"station_health":0,
        "satellites":[
            {"ident":13,"udre":0,"iod":3,"prc":-25.940,"rrc":0.066},
            {"ident":2,"udre":0,"iod":73,"prc":0.920,"rrc":-0.080},
            {"ident":8,"udre":0,"iod":22,"prc":23.820,"rrc":0.014}
]}
</programlisting>

</refsect3>
<refsect3><title>Type 13: GPS Time of Week</title>

<para>Here are the payload members of a type 13 (Groumf Tramitter Parameters)
message:</para>

<table frame="all" pgwide="0"><title>Grund Transmitter Parameters</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>status</entry>
	<entry>bool</entry>
        <entry><para>If True, signals user to expect a type 16 explanatory
	message associated with this station. Probably indicates some
	sort of unusual event.</para></entry>
</row>
<row>
	<entry>rangeflag</entry>
	<entry>bool</entry>
        <entry><para>If True, indicates that the estimated range is
	different from that found in the Type 7 message (which contains the
	beacon's listed range). Generally indicates a range reduction due to
	causes such as poor ionospheric conditions or reduced transmission
	power.</para></entry>
</row>
<row>
	<entry>lat</entry>
	<entry>real</entry>
        <entry><para>Degrees latitude, signed.
	Positive is N, negative is S.</para></entry>
</row>
<row>
	<entry>lon</entry>
	<entry>real</entry>
        <entry><para>Degrees longitude, signed.
	Positive is E, negative is W.</para></entry>
</row>
<row>
	<entry>range</entry>
	<entry>integer</entry>
        <entry><para>Transmission range in km (1-1024).</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>This message type replaces message type 3 (Reference Station Parameters)
in RTCM 2.3.</para>

</refsect3>
<refsect3><title>Type 14: GPS Time of Week</title>

<para>Here are the payload members of a type 14 (GPS Time of Week)
message:</para>

<table frame="all" pgwide="0"><title>Reference Station Parameters</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>week</entry>
	<entry>integer</entry>
        <entry><para>GPS week (0-123).</para></entry>
</row>
<row>
	<entry>hour</entry>
	<entry>integer</entry>
        <entry><para>Hour of week (0-167).</para></entry>
</row>
<row>
	<entry>leapsecs</entry>
	<entry>integer</entry>
        <entry><para>Leap Seconds (0-63).</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":14,"station_id":652,"zcount":1657.2,
        "seqnum":3,"length":1,"station_health":6,"week":601,"hour":109,
        "leapsecs":15}
</programlisting>

</refsect3>
<refsect3><title>Type 16: Special Message</title>

<table frame="all" pgwide="0"><title>Special Message</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>message</entry>
	<entry>string</entry>
        <entry><para>A text message sent by the beacon operator.</para></entry>
</row>
</tbody>
</tgroup>
</table>

</refsect3>
<refsect3><title>Type 31: Correction data</title>

<para>One or more GLONASS satellite objects follow the header for type
1 or type 9 messages. Here is the format:</para>

<table frame="all" pgwide="0"><title>Satellite object</title>
<tgroup cols="3" align="left" colsep="1" rowsep="1">
<thead>
<row>
	<entry>Name</entry>
	<entry>Type</entry>
	<entry><para>Description</para></entry>
</row>
</thead>
<tbody>
<row>
	<entry>ident</entry>
	<entry>integer</entry>
        <entry><para>The PRN number of the satellite for which this is
	correction data.</para></entry>
</row>
<row>
	<entry>udre</entry>
	<entry>integer</entry>
        <entry><para>User Differential Range Error (0-3). See the
        table following for values.</para></entry>
</row>
<row>
	<entry>change</entry>
	<entry>boolean</entry>
        <entry><para>Change-of-ephemeris bit.</para></entry>
</row>
<row>
	<entry>tod</entry>
	<entry>uinteger</entry>
        <entry><para>Count of 30-second periods since the top of the 
	hour.</para></entry>
</row>
<row>
	<entry>prc</entry>
	<entry>real</entry>
        <entry><para>The pseudorange error in meters for this
        satellite as measured by the beacon reference receiver at the
        epoch indicated by the z_count in the parent
        record.</para></entry>
</row>
<row>
	<entry>rrc</entry>
	<entry>real</entry>
        <entry><para>The rate of change of pseudorange error in
        meters/sec for this satellite as measured by the beacon
        reference receiver at the epoch indicated by the z_count field
        in the parent record. This is used to calculate pseudorange
        errors at other epochs, if required by the GPS
        receiver.</para></entry>
</row>
</tbody>
</tgroup>
</table>

<para>Here's an example:</para>

<programlisting>
{"class":"RTCM2","type":31,"station_id":652,"zcount":1642.2,
    "seqnum":0,"length":14,"station_health":6,
    "satellites":[
        {"ident":5,"udre":0,"change":false,"tod":0,"prc":132.360,"rrc":0.000},
        {"ident":15,"udre":0,"change":false,"tod":0,"prc":134.840,"rrc":0.002},
        {"ident":14,"udre":0,"change":false,"tod":0,"prc":141.520,"rrc":0.000},
        {"ident":6,"udre":0,"change":false,"tod":0,"prc":127.000,"rrc":0.000},
        {"ident":21,"udre":0,"change":false,"tod":0,"prc":128.780,"rrc":0.000},
        {"ident":22,"udre":0,"change":false,"tod":0,"prc":125.260,"rrc":0.002},
        {"ident":20,"udre":0,"change":false,"tod":0,"prc":117.280,"rrc":-0.004},
        {"ident":16,"udre":0,"change":false,"tod":17,"prc":113.460,"rrc":0.018}
]}
</programlisting>

</refsect3>
</refsect2>
</refsect1>

<refsect1 id='dump-format3'><title>RTCM3 DUMP FORMAT</title>

<para>The support for RTCM104v3 dumping is incomplete and buggy.  Do not
attempt to use it for production! Anyone interested in it should read
the source code.</para>
</refsect1>

<refsect1 id='ais'><title>AIS DUMP FORMATS</title>

<para>AIS support is an extension.  It may not be present if your
instance of <application>gpsd</application> has been built with
a restricted feature set.</para>

<para>AIS packets are dumped as JSON objects with class "AIS".  Each
AIS report object contains a "type" field giving the AIS message type
and a "scaled" field telling whether the remainder of the fields are
dumped in scaled or unscaled form. (These will be emitted before any
type-specific fields.) It will also contain a "device" field naming
the data source.  Other fields have names and types as specified in
the <citetitle>AIVDM/AIVDO Protocol Decoding</citetitle> document on
the GPSD project website; each message field table may be directly
interpreted as a specification for the members of the corresponding
JSON object type.</para>

<para>By default, certain scaling and conversion operations are
performed for JSON output.  Latitudes and longitudes are scaled to
decimal degrees rather than the native AIS unit of 1/10000th of a
minute of arc.  Ship (but not air) speeds are scaled to knots rather
than tenth-of-knot units.  Navigation status and positioning-system
type are dumped as text strings rather than AIS numeric codes. Rate of
turn may appear as "nan" if is unavailable, or as one of the strings
"fastright" or "fastleft" if it is out of the AIS encoding range;
otherwise it is quadratically mapped back to the turn sensor number in
degrees per minute. Vessel draughts are converted to decimal meters
rather than native AIS decimeters. Various other scaling conversions
are described in <citetitle>"AIVDM/AIVDO Protocol Decoding"</citetitle>.</para>

</refsect1>
<refsect1 id='subframe'><title>SUBFRAME DUMP FORMATS</title>

<para>Subframe support is always compiled into
<application>gpsd</application> but many GPS do not output Subframe data
or the <application>gpsd</application> driver may not support Subframes.
</para>

<para>Subframe packets are dumped as JSON objects with class "SUBFRAME".
Each Subframe report object contains a "frame" field giving the subframe
number, a "tSV" field for the transmitting satellite number, a "TOW17"
field containing the 17 MSBs of the start of the next 12-second message
and a "scaled" field telling whether the remainder of the fields are
dumped in scaled or unscaled form. It will also contain a "device" field
naming the data source.  Each SUBFRAME object will have a sub-object
specific to that subframe page type.  Those sub-object fields have names
and types similar to those specified in the IS-GPS-200E document; each
message field table may be directly interpreted as a specification for
the members of the corresponding JSON object type.</para>

</refsect1>

<refsect1 id='see_also'><title>SEE ALSO</title>
<para>
<citerefentry><refentrytitle>gpsd</refentrytitle><manvolnum>8</manvolnum></citerefentry>,
<citerefentry><refentrytitle>libgps</refentrytitle><manvolnum>3</manvolnum></citerefentry>,
</para>
</refsect1>

<refsect1 id='maintainer'><title>AUTHOR</title>

<para>The protocol was designed and documented by Eric S. Raymond.</para>
</refsect1>

</refentry>