Javad / GREIS

The implementation follows src/Asv.Gnss/Protocols/Javad/Docs/GREIS-4.2.01.pdf. It provides streaming parsing and serialization for 303 native receiver-message identifiers: 271 binary models and 32 text, reply, parameter, wrapper, and event models. The default registration includes the compatibility messages in Appendix A.4 as well as the current Chapter 3.4 messages.

GREIS receiver commands, command lines, response labels, compound parameter values, and the documented receiver-object catalog are also available. Protocol identifiers are case-sensitive: for example, PG, Pg, gd, and GD are distinct messages.

Connect the parser

using System;
using Asv.Gnss;
using Asv.IO;
using R3;

var protocol = Protocol.Create(builder =>
{
    builder.Protocols.RegisterJavadProtocol();
});

using var parser = protocol.CreateParser(JavadProtocol.Info.Id);
using var subscription = parser.OnMessage.Subscribe(message =>
{
    if (message is JavadReceiverTimeMessage time)
    {
        Console.WriteLine($"Receiver time: {time.TimeOfDay} ms");
    }
});

// A complete ~~ receiver-time frame with its checksum.
foreach (var value in Convert.FromHexString("7E7E30303504030201BC"))
{
    parser.Push(value);
}

Use the same registration with a router and transport from Quick Start. RegisterJavadProtocol accepts a factory callback after adding the defaults; it can remove a message or add a custom JavadMessageBase implementation. Registration selects decoders. Configure the receiver's output separately with GREIS commands.

JavadMessageParser accepts fragmented and adjacent frames, validates each message's checksum type, and recovers after malformed candidates. A standard frame has two ASCII identifier characters, three uppercase hexadecimal body-length digits, and a body of up to 4095 bytes, including its checksum. The maximum complete frame is 4100 bytes. Line endings between frames are optional.

A standard GREIS stream can contain non-standard ASCII lines such as NMEA sentences. The GREIS parser skips those lines; register the NMEA parser to decode them. Unwrapped RTCM, BINEX, and CMR binary streams are separate wire protocols. JavadWrapperMessage (>>) carries arbitrary bytes inside a GREIS frame and preserves its SourceId and Data.

Typed messages and serialization

All native models derive from JavadMessageBase. They consume one complete frame from the supplied span, leaving any subsequent bytes available to the caller. GetByteSize() includes the header and checksum.

using System;
using Asv.Gnss;

var position = new JavadGeodeticPositionMessage
{
    Latitude = 55.75 * Math.PI / 180.0,  // PG uses radians.
    Longitude = 37.5 * Math.PI / 180.0,
    Altitude = 150.25,                  // Ellipsoidal height in meters.
    PositionSigma = 0.5f,
    SolutionType = 1,
};

var bytes = new byte[position.GetByteSize()];
Span<byte> destination = bytes;
position.Serialize(ref destination);

ReadOnlySpan<byte> source = bytes;
var decoded = new JavadGeodeticPositionMessage();
decoded.Deserialize(ref source);

Binary properties retain the specification's raw units, scaling, bit fields, and missing-value sentinels. For example, integer measurement encodings remain integer values and IEEE NaNs remain NaNs. The codecs preserve these values for callers that need exact data or subsequent calculations. They do not assemble observation epochs or apply satellite-index, relative-measurement, clock, or GNSS navigation calculations. Applications can build that processing from ~~, ::, RD, ST, SX/SI, and the measurement models.

MF sets the incoming stream's major/minor format version and byte order. Each parser has independent state; decoded messages retain the ByteOrder used for their payload. The default is little endian. Reset() clears partial framing while retaining the established format, because Asv.IO resets parsers at packet boundaries. Call ResetStream() when starting a different receiver stream to restore format 1.0 and little-endian defaults. Unsupported major versions suspend decoding of ordinary messages until a supported MF is received; JP and MF remain recognizable. When decoding a single binary frame directly, set its ByteOrder first if it is big endian. When writing a stream, set each binary message's ByteOrder consistently with the emitted MF message; serialization does not maintain a separate outbound session.

For extensible fixed layouts, trailing bytes before the checksum are captured in ExtensionData and serialized again. Known optional groups are represented by the corresponding model properties. Variable records retain their specified counts, lengths, and extensions. The exceptions are JP and MF, whose sizes are fixed by the specification.

Historical recordings can omit the final Edop field in DP, Nt in NU, Flags in WE, or DAf0 in EN. Their existing scalar properties remain available; HasEdop, HasNt, HasFlags, and HasDAf0 record whether the field is present on the wire. New messages include these fields by default. Decoding an older layout sets its presence flag to false and resets the absent scalar to zero. Set the flag to true when adding that field. An absent field cannot be followed by ExtensionData, because those bytes would be interpreted as the field on the next decode.

JavadTextMessage exposes typed properties and immutable Fields after the message title. Nested satellite, data-link, correction-text, timing, and reference-station groups have typed views. Omitted fields, nested lists, future fields, and original text spelling survive a decode/encode cycle. Editing a property updates the corresponding field while retaining unrelated fields. Decimal text values use invariant culture; a padded value such as 009 means decimal nine. Short forms selected by position or RAIM status are accepted.

An unregistered identifier is skipped using its declared length and reported through OnError as an unknown message. The parser does not guess a checksum for unknown layouts. For explicit forwarding or inspection when the layout is known, JavadRawMessage accepts an identifier and JavadChecksumKind; its Payload excludes the selected checksum. This raw utility is separate from the concrete native models in the catalog below.

Inspect and edit fields with a visitor

Native receiver messages implement IVisitable. Call Accept(IVisitor) to inspect or edit the payload through the standard Asv.IO visitor interfaces. Message headers and checksums are rebuilt by serialization; ExtensionData is visited as a byte list.

using System.Text;
using Asv.Gnss;
using Asv.IO;

var attitude = new JavadImuAttitudeMessage
{
    SolutionValidity = 'V',
    RollDegrees = 1.5,
    PitchDegrees = -0.25,
    HeadingDegrees = 90.0,
};

var text = new StringBuilder();
attitude.Accept(new PrintValueVisitor(text, skipUnknown: false));
StructType metadata = JavadImuAttitudeMessage.StructType;

Binary models expose their wire scalar types, arrays, lists, and nested records. Computed lengths and legacy layout selectors carry readOnly=true metadata; attempting to change them throws InvalidOperationException. Change their source arrays or flags instead. Native text models expose nullable integers, doubles, ASCII strings, characters, and TimeSpan values. Satellite, signal-strength, data-link, timing, and reference-station groups are structured fields. Visitors can change values through ref parameters; resizing a counted text list also updates its wire count and retains trailing future fields. Text record views implement IVisitable too. When visiting a whole message, changes to nested records are written back into its immutable Fields tree. When visiting a detached record view, assign the edited view back through the corresponding message property or Fields.

Known layouts have cached static StructType metadata. TD and complete PM payloads have arbitrary nested shapes: GetVisitorType() returns cached metadata for their current value tree, and Accept traverses that structure. An incomplete PM fragment is visited as its literal Parameters string. RE and ER expose literal Text, preserving response labels and incomplete fragments; use Response to interpret their command semantics.

A visitor that leaves values unchanged preserves the original text bytes, decimal padding, whitespace, omitted fields, and immutable node identities. Editing a text field rebuilds only the affected nodes; unrelated known and future fields remain available. Derived convenience properties, such as latitude converted from a text angle into degrees, are not a second editable representation of the same wire field.

JavadCommand and JavadCommandLine also support Accept. They validate edited command values before publishing changes; inspection retains original whitespace, comments, and checksum spelling. Their argument and option trees use the same immutable-value visitor described below.

The typed text traversal covers the documented fields. To inspect or edit all fields, including unknown extensions and heterogeneous lists, use JavadValueVisitor.VisitFields(visitor, ref value) on a JavadValue.List created from message.Fields, then assign value.Items back only if the root value changed. JavadValueVisitor.GetType(value) returns the exact finite schema for an immutable value and reuses metadata while that value is unchanged. JavadValueVisitor.Visit(visitor, field, ref value) adds an enclosing structure callback; the field must use that value's current metadata. Use value factories to replace a tree's shape or add options before visiting it.

Receiver commands and responses

JavadCommand represents one statement, and JavadCommandLine represents statements separated by ;, &&, or ||. They serialize ASCII with CRLF and support the optional rotate/XOR checksum. The command catalog contains all 13 command names from Chapter 2.3: set, print, list, em, out, dm, init, create, remove, event, get, put, and fld.

using Asv.Gnss;

var query = JavadCommand.Print(new JavadObjectPath("/par/rcv/id"))
    .WithLabel("identify")
    .WithChecksum();

var schedule = JavadCommand.EnableMessages(
    JavadValue.Parse("jps/{RT,RD,PG,ET}")
        .WithOptions(JavadParameterValues.Scheduling(period: 1.0)));

var reply = new JavadReplyMessage { Text = "%identify% QP01234TR45" };
JavadCommandResponse response = reply.Response;
if (response.Matches(query))
{
    System.Console.WriteLine(response.Text);
}

Send a command through the selected endpoint or serialize it into the receiver's input stream. An explicit %label% forces a response and enables correlation with JavadCommandResponse.Matches. Unlabelled replies cannot identify which outstanding command produced them. JavadReplyMessage and JavadErrorMessage retain their complete ASCII payloads; the parsed response exposes Label, Text, and, for a complete error value, ErrorCode.

A print or list result can span multiple RE messages. TryGetValue succeeds only when the response text is a complete GREIS value. Accumulate the relevant fragments according to the request and application workflow before parsing a full object tree; one successful RE frame does not imply a complete response. PM retains the parameter payload and supports the same complete-value parsing approach.

For compatibility with recorded receiver streams, PM accepts both the documented ,@ checksum delimiter and a bare @. A decoded message retains its delimiter when serialized or edited; newly constructed messages use ,@.

JavadValue represents quoted strings, omitted values, empty lists, nested or prefixed lists, named values, and options. JavadParameterValues supplies scheduling, IPv4, datum, Cartesian-position, and geodetic-position values. JavadTimeSpecification handles recurring time fields and wildcards. Receiver-only TextAtom values require explicit quoting before they can be used in commands.

Data Transfer Protocol

The Appendix A.2 Data Transfer Protocol (DTP) is an explicit transfer mode used after a suitable get, put, or fld command. It has its own framing; route transfer bytes to the DTP helpers while that mode is active. JavadMessageParser handles ordinary GREIS receiver messages.

JavadDtpCodec encodes and decodes ordinal, last, error, and abort blocks. DTP integers are always little endian, independently of MF. Its CRC16 continues from the previous accepted block, and a last block carries its actual byte count plus zero padding. The codec accepts the negotiated block size; both ends must use the same value.

JavadDtpReceiver accepts bytes incrementally. Start with InitialRequest, process the returned JavadDtpReceiveResult, deliver each new block's data once, and send Request only when it is non-null. It tracks sequence numbers, cumulative checksums, completion, and duplicate blocks. Call RequestRetry() after a deadline to discard a partial block and request retransmission.

JavadDtpTransmitter prepares one block with Prepare and interprets incoming requests with ProcessRequest. A retransmission uses the unchanged CurrentBlock; the checksum and sequence number advance when the current ordinal block is acknowledged. Call MarkCurrentBlockSent() after the transport finishes writing CurrentBlock. Mark the final block with isLast: true, including an empty final block when needed; sending that last block completes the transmitter without waiting for a final acknowledgement.

The get command's attempts option selects its output format; it is not always DTP:

`attempts`	Output handling
Greater than 1	Ordinary DTP with receiver requests and retransmission attempts.
`1`	Streaming DTP: the sender does not wait for ACKs, and a NACK aborts the transfer. The same block decoder accepts the stream.
`0`	Raw object bytes; the application handles their boundaries.
`-1` through `-256`	GREIS `>>` wrappers with source ID `-1 - attempts`. The first data byte is a sequence character from `0` through `o`, modulo 64; a final wrapper without data indicates completion.
`-257`	GREIS `RE` chunks, retaining the command label and payload text.

These helpers maintain block and transfer state. The application owns stream I/O, initiating commands, negotiated options, deadlines, pacing, file access, and switching back to GREIS messages after transfer completion. No receiver connection or file transfer starts merely by constructing a helper.

Receiver-object catalog

JavadParameterCatalog.All contains 1227 documented object declarations, including 1209 /par declarations and compatibility entries. Each descriptor retains the path template, original declaration, access, type, values, default, options, and PDF page. These are specification metadata; receiver firmware and installed options determine actual availability and accepted ranges.

using System.Collections.Generic;
using System.Linq;
using Asv.Gnss;

var descriptor = JavadParameterCatalog.Find("/par/dev/tcpo/X/port").Single();
var port = descriptor.Bind(new Dictionary<string, string> { ["X"] = "a" });
var readPort = JavadCommand.Print(port);

var rate = new JavadObjectPath("/par/dev/ser/a").Child("rate");
var readDefaultRate = JavadCommand.Print(rate.Attribute("def"));
var setRate = JavadCommand.Set(rate, JavadValue.Integer(115200));

Find returns every declaration with the exact template. Under selects a path prefix, and Bind substitutes explicit template identifiers such as X, SYS, or [port]. JavadObjectPath also supports relative paths, dynamic objects, and &attribute access, so object access is not restricted to this manual's catalog.

Specification details and validation

The schema records the following inconsistencies in GREIS 4.2.01:

The S4 and SigmaPhi body-size expressions on page 103 conflict with their f4 arrays. The codecs follow the field declarations: 4 * nSats + 1 bytes including checksum.
The Sp size expression omits n. Its payload uses 8 + n * m * 2 bytes and the documented optional 33-byte extension.
IE uses the required 122-byte GPS ephemeris data plus navType and checksum. QE follows the GPS ephemeris optional layouts, including CNAV2, despite its abbreviated printed length list.
The SvDelay reference on page 119 points to the preceding SvDelays record.
sj appears on page 130 but is absent from the table of contents; it is included in the implementation and catalog.
The access field for /par/[cport]/sid/out/first on page 514 is mislabelled Name: rw; the parameter generator treats it as access metadata.

Tests cover the three TD frames printed on page 393, checksum algorithms, fragmentation and recovery, byte-order isolation, each native model's round trip, optional/variable structures, command syntax, parameter declarations, and preservation of extensions.

Five public receiver recordings and upstream excerpts from RTKLIB, GPSD, and EarthScope gnsstools are included in src/Asv.Gnss.Test/Resources/Javad. They contain 6376 complete frames in total, plus the original incomplete tail of the RTKLIB recording. Replay tests verify file hashes, independently inventoried boundaries, message order, exact reserialization, selected dates/times/positions, historical layouts, and unchanged out-of-range ionosphere time fields. Tests use local files without network access. The resource README records pinned source URLs, SHA-256 hashes, provenance, and licenses. No physical JAVAD receiver was used for validation.

The binary source of truth is Protocols/Javad/Schema/binary-messages.json; custom variable codecs are maintained alongside the generated models. Regenerate and verify from the repository root:

python3 src/Asv.Gnss/Protocols/Javad/Schema/generate_binary.py
python3 src/Asv.Gnss/Protocols/Javad/Schema/generate_binary.py --check
pdftotext -layout src/Asv.Gnss/Protocols/Javad/Docs/GREIS-4.2.01.pdf /tmp/greis-layout.txt
python3 src/Asv.Gnss/Protocols/Javad/Parameters/generate_catalog.py /tmp/greis-layout.txt

Edit the schema, maintained codecs, or generator when changing their behavior. Do not edit Generated/JavadBinaryMessages.g.cs or Parameters/JavadParameterCatalog.Generated.cs by hand.

Specification message catalog

The table lists every native identifier covered by the supplied GREIS 4.2.01 specification, including measurement families, the omitted sj contents entry, legacy SI, and Appendix A.4 messages. Model present means the concrete model implements decoding and serialization of its documented layout. Default indicates inclusion in RegisterJavadProtocol; it does not promise support by a particular receiver firmware. Foreign NMEA/RTCM/CMR messages remain separate protocols or payloads of >>.

Page references are one-based PDF pages; printed page numbers coincide in this document.

GREIS ID	Message	Status	C# model	Default	PDF page
`JP`	File Identifier	Model present	`JavadFileIdentifierMessage`	Yes	73
`MF`	Messages Format	Model present	`JavadMessagesFormatMessage`	Yes	74
`~~`	Receiver Time	Model present	`JavadReceiverTimeMessage`	Yes	74
`::`	Epoch Time	Model present	`JavadEpochTimeMessage`	Yes	75
`RD`	Receiver Date	Model present	`JavadReceiverDateMessage`	Yes	75
`TO`	Reference Time to Receiver Time Offset	Model present	`JavadReferenceTimeOffsetMessage`	Yes	75
`DO`	Derivative of Receiver Time Offset	Model present	`JavadReferenceTimeOffsetDerivativeMessage`	Yes	75
`BP`	Rough Accuracy of Time Approximation	Model present	`JavadTimeApproximationAccuracyMessage`	Yes	76
`GT`	GPS Time	Model present	`JavadGpsTimeMessage`	Yes	76
`GO`	GPS to Receiver Time Offset	Model present	`JavadGpsTimeOffsetMessage`	Yes	76
`NT`	GLONASS Time	Model present	`JavadGlonassTimeMessage`	Yes	76
`NO`	GLONASS to Receiver Time Offset	Model present	`JavadGlonassTimeOffsetMessage`	Yes	76
`EO`	GALILEO to Receiver Time Offset	Model present	`JavadGalileoTimeOffsetMessage`	Yes	76
`WO`	SBAS to Receiver Time Offset	Model present	`JavadSbasTimeOffsetMessage`	Yes	77
`QO`	QZSS to Receiver Time Offset	Model present	`JavadQzssTimeOffsetMessage`	Yes	77
`CO`	BeiDou to Receiver Time Offset	Model present	`JavadBeiDouTimeOffsetMessage`	Yes	77
`Io`	IRNSS to Receiver Time Offset	Model present	`JavadIrnssTimeOffsetMessage`	Yes	77
`UO`	GPS UTC Time Parameters	Model present	`JavadGpsUtcParametersMessage`	Yes	77
`WU`	SBAS UTC Time Parameters	Model present	`JavadSbasUtcParametersMessage`	Yes	78
`EU`	GALILEO UTC and GPS Time Parameters	Model present	`JavadGalileoUtcGpsParametersMessage`	Yes	78
`QU`	QZSS UTC Time Parameters	Model present	`JavadQzssUtcParametersMessage`	Yes	78
`CU`	BeiDou UTC Time Parameters	Model present	`JavadBeiDouUtcParametersMessage`	Yes	79
`IU`	IRNSS UTC Time Parameters	Model present	`JavadIrnssUtcParametersMessage`	Yes	79
`NU`	GLONASS UTC and GPS Time Parameters	Model present	`JavadGlonassUtcGpsParametersMessage`	Yes	79
`ST`	Solution Time-Tag	Model present	`JavadSolutionTimeMessage`	Yes	79
`PO`	Cartesian Position	Model present	`JavadCartesianPositionMessage`	Yes	80
`Po`	(PoWgs,PoLoc) Cartesian Position in Specific System	Model present	`JavadSpecificCartesianPositionMessage`	Yes	80
`VE`	Cartesian Velocity	Model present	`JavadCartesianVelocityMessage`	Yes	80
`PV`	Cartesian Position and Velocity	Model present	`JavadCartesianPositionVelocityMessage`	Yes	80
`PG`	Geodetic Position	Model present	`JavadGeodeticPositionMessage`	Yes	81
`Pg`	(PgWgs,PgLoc) Geodetic Position in Specific System	Model present	`JavadSpecificGeodeticPositionMessage`	Yes	81
`VG`	Geodetic Velocity	Model present	`JavadGeodeticVelocityMessage`	Yes	81
`SG`	Position and Velocity RMS Errors	Model present	`JavadPositionVelocityRmsMessage`	Yes	81
`mp`	Position in Local Plane	Model present	`JavadLocalPlanePositionMessage`	Yes	82
`bp`	Reference Station Position in Local Plane	Model present	`JavadReferenceStationLocalPlanePositionMessage`	Yes	82
`DP`	Dilution of Precision (DOP)	Model present	`JavadDilutionOfPrecisionMessage`	Yes	83
`SP`	Position Covariance Matrix	Model present	`JavadPositionCovarianceMessage`	Yes	83
`SV`	Velocity Covariance Matrix	Model present	`JavadVelocityCovarianceMessage`	Yes	83
`BL`	Baseline	Model present	`JavadBaselineMessage`	Yes	83
`bL`	Attitude Baselines	Model present	`JavadAttitudeBaselinesMessage`	Yes	84
`mR`	Attitude Full Rotation Matrix	Model present	`JavadAttitudeRotationMatrixMessage`	Yes	84
`PS`	Position Statistics	Model present	`JavadPositionStatisticsMessage`	Yes	84
`PT`	Time of Continuous Position Computation	Model present	`JavadContinuousPositionTimeMessage`	Yes	85
`SX`	Extended Satellite Indices	Model present	`JavadExtendedSatelliteIndicesMessage`	Yes	92
`AN`	Antenna Names	Model present	`JavadAntennaNamesMessage`	Yes	92
`NN`	GLONASS Satellite System Numbers	Model present	`JavadGlonassSatelliteNumbersMessage`	Yes	93
`EL`	Satellite Elevations	Model present	`JavadSatelliteElevationsMessage`	Yes	93
`AZ`	Satellite Azimuths	Model present	`JavadSatelliteAzimuthsMessage`	Yes	93
`RX`	Pseudo-ranges	Model present	`JavadPseudoRangesRXMessage`	Yes	93
`RC`	Pseudo-ranges	Model present	`JavadPseudoRangesRCMessage`	Yes	93
`R1`	Pseudo-ranges	Model present	`JavadPseudoRangesR1Message`	Yes	93
`R2`	Pseudo-ranges	Model present	`JavadPseudoRangesR2Message`	Yes	93
`R3`	Pseudo-ranges	Model present	`JavadPseudoRangesR3Message`	Yes	93
`R5`	Pseudo-ranges	Model present	`JavadPseudoRangesR5Message`	Yes	93
`Rl`	Pseudo-ranges	Model present	`JavadPseudoRangesRlMessage`	Yes	93
`rx`	Integer Pseudo-ranges	Model present	`JavadIntegerPseudoRangesrxMessage`	Yes	94
`rc`	Integer Pseudo-ranges	Model present	`JavadIntegerPseudoRangesrcMessage`	Yes	94
`r1`	Integer Pseudo-ranges	Model present	`JavadIntegerPseudoRangesr1Message`	Yes	94
`r2`	Integer Pseudo-ranges	Model present	`JavadIntegerPseudoRangesr2Message`	Yes	94
`r3`	Integer Pseudo-ranges	Model present	`JavadIntegerPseudoRangesr3Message`	Yes	94
`r5`	Integer Pseudo-ranges	Model present	`JavadIntegerPseudoRangesr5Message`	Yes	94
`rl`	Integer Pseudo-ranges	Model present	`JavadIntegerPseudoRangesrlMessage`	Yes	94
`CR`	Relative Pseudo-ranges	Model present	`JavadRelativePseudoRangesCRMessage`	Yes	95
`1R`	Relative Pseudo-ranges	Model present	`JavadRelativePseudoRanges1RMessage`	Yes	95
`2R`	Relative Pseudo-ranges	Model present	`JavadRelativePseudoRanges2RMessage`	Yes	95
`3R`	Relative Pseudo-ranges	Model present	`JavadRelativePseudoRanges3RMessage`	Yes	95
`5R`	Relative Pseudo-ranges	Model present	`JavadRelativePseudoRanges5RMessage`	Yes	95
`lR`	Relative Pseudo-ranges	Model present	`JavadRelativePseudoRangeslRMessage`	Yes	95
`cr`	Integer Relative Pseudo-ranges	Model present	`JavadIntegerRelativePseudoRangescrMessage`	Yes	95
`1r`	Integer Relative Pseudo-ranges	Model present	`JavadIntegerRelativePseudoRanges1rMessage`	Yes	95
`2r`	Integer Relative Pseudo-ranges	Model present	`JavadIntegerRelativePseudoRanges2rMessage`	Yes	95
`3r`	Integer Relative Pseudo-ranges	Model present	`JavadIntegerRelativePseudoRanges3rMessage`	Yes	95
`5r`	Integer Relative Pseudo-ranges	Model present	`JavadIntegerRelativePseudoRanges5rMessage`	Yes	95
`lr`	Integer Relative Pseudo-ranges	Model present	`JavadIntegerRelativePseudoRangeslrMessage`	Yes	95
`cm`	Pseudo-range Corrections	Model present	`JavadPseudoRangeCorrectionscmMessage`	Yes	96
`1m`	Pseudo-range Corrections	Model present	`JavadPseudoRangeCorrections1mMessage`	Yes	96
`2m`	Pseudo-range Corrections	Model present	`JavadPseudoRangeCorrections2mMessage`	Yes	96
`3m`	Pseudo-range Corrections	Model present	`JavadPseudoRangeCorrections3mMessage`	Yes	96
`5m`	Pseudo-range Corrections	Model present	`JavadPseudoRangeCorrections5mMessage`	Yes	96
`lm`	Pseudo-range Corrections	Model present	`JavadPseudoRangeCorrectionslmMessage`	Yes	96
`CC`	Smoothing Corrections	Model present	`JavadSmoothingCorrectionsCCMessage`	Yes	96
`C1`	Smoothing Corrections	Model present	`JavadSmoothingCorrectionsC1Message`	Yes	96
`C2`	Smoothing Corrections	Model present	`JavadSmoothingCorrectionsC2Message`	Yes	96
`C3`	Smoothing Corrections	Model present	`JavadSmoothingCorrectionsC3Message`	Yes	96
`C5`	Smoothing Corrections	Model present	`JavadSmoothingCorrectionsC5Message`	Yes	96
`Cl`	Smoothing Corrections	Model present	`JavadSmoothingCorrectionsClMessage`	Yes	96
`cc`	Smoothing Corrections	Model present	`JavadIntegerSmoothingCorrectionsccMessage`	Yes	97
`c1`	Smoothing Corrections	Model present	`JavadIntegerSmoothingCorrectionsc1Message`	Yes	97
`c2`	Smoothing Corrections	Model present	`JavadIntegerSmoothingCorrectionsc2Message`	Yes	97
`c3`	Smoothing Corrections	Model present	`JavadIntegerSmoothingCorrectionsc3Message`	Yes	97
`c5`	Smoothing Corrections	Model present	`JavadIntegerSmoothingCorrectionsc5Message`	Yes	97
`cl`	Smoothing Corrections	Model present	`JavadIntegerSmoothingCorrectionsclMessage`	Yes	97
`PC`	Carrier Phases	Model present	`JavadCarrierPhasesPCMessage`	Yes	97
`P1`	Carrier Phases	Model present	`JavadCarrierPhasesP1Message`	Yes	97
`P2`	Carrier Phases	Model present	`JavadCarrierPhasesP2Message`	Yes	97
`P3`	Carrier Phases	Model present	`JavadCarrierPhasesP3Message`	Yes	97
`P5`	Carrier Phases	Model present	`JavadCarrierPhasesP5Message`	Yes	97
`Pl`	Carrier Phases	Model present	`JavadCarrierPhasesPlMessage`	Yes	97
`pc`	Integer Carrier Phases	Model present	`JavadIntegerCarrierPhasespcMessage`	Yes	97
`p1`	Integer Carrier Phases	Model present	`JavadIntegerCarrierPhasesp1Message`	Yes	97
`p2`	Integer Carrier Phases	Model present	`JavadIntegerCarrierPhasesp2Message`	Yes	97
`p3`	Integer Carrier Phases	Model present	`JavadIntegerCarrierPhasesp3Message`	Yes	97
`p5`	Integer Carrier Phases	Model present	`JavadIntegerCarrierPhasesp5Message`	Yes	97
`pl`	Integer Carrier Phases	Model present	`JavadIntegerCarrierPhasesplMessage`	Yes	97
`CP`	Relative Carrier Phases	Model present	`JavadRelativeCarrierPhasesCPMessage`	Yes	98
`1P`	Relative Carrier Phases	Model present	`JavadRelativeCarrierPhases1PMessage`	Yes	98
`2P`	Relative Carrier Phases	Model present	`JavadRelativeCarrierPhases2PMessage`	Yes	98
`3P`	Relative Carrier Phases	Model present	`JavadRelativeCarrierPhases3PMessage`	Yes	98
`5P`	Relative Carrier Phases	Model present	`JavadRelativeCarrierPhases5PMessage`	Yes	98
`lP`	Relative Carrier Phases	Model present	`JavadRelativeCarrierPhaseslPMessage`	Yes	98
`cp`	Integer Relative Carrier Phases	Model present	`JavadIntegerRelativeCarrierPhasescpMessage`	Yes	98
`1p`	Integer Relative Carrier Phases	Model present	`JavadIntegerRelativeCarrierPhases1pMessage`	Yes	98
`2p`	Integer Relative Carrier Phases	Model present	`JavadIntegerRelativeCarrierPhases2pMessage`	Yes	98
`3p`	Integer Relative Carrier Phases	Model present	`JavadIntegerRelativeCarrierPhases3pMessage`	Yes	98
`5p`	Integer Relative Carrier Phases	Model present	`JavadIntegerRelativeCarrierPhases5pMessage`	Yes	98
`lp`	Integer Relative Carrier Phases	Model present	`JavadIntegerRelativeCarrierPhaseslpMessage`	Yes	98
`cf`	Phase Corrections	Model present	`JavadPhaseCorrectionscfMessage`	Yes	99
`1f`	Phase Corrections	Model present	`JavadPhaseCorrections1fMessage`	Yes	99
`2f`	Phase Corrections	Model present	`JavadPhaseCorrections2fMessage`	Yes	99
`3f`	Phase Corrections	Model present	`JavadPhaseCorrections3fMessage`	Yes	99
`5f`	Phase Corrections	Model present	`JavadPhaseCorrections5fMessage`	Yes	99
`lf`	Phase Corrections	Model present	`JavadPhaseCorrectionslfMessage`	Yes	99
`DX`	Doppler	Model present	`JavadDopplerDXMessage`	Yes	99
`DC`	Doppler	Model present	`JavadDopplerDCMessage`	Yes	99
`D1`	Doppler	Model present	`JavadDopplerD1Message`	Yes	99
`D2`	Doppler	Model present	`JavadDopplerD2Message`	Yes	99
`D3`	Doppler	Model present	`JavadDopplerD3Message`	Yes	99
`D5`	Doppler	Model present	`JavadDopplerD5Message`	Yes	99
`Dl`	Doppler	Model present	`JavadDopplerDlMessage`	Yes	99
`0d`	Relative Doppler	Model present	`JavadRelativeDoppler0dMessage`	Yes	100
`1d`	Relative Doppler	Model present	`JavadRelativeDoppler1dMessage`	Yes	100
`2d`	Relative Doppler	Model present	`JavadRelativeDoppler2dMessage`	Yes	100
`3d`	Relative Doppler	Model present	`JavadRelativeDoppler3dMessage`	Yes	100
`5d`	Relative Doppler	Model present	`JavadRelativeDoppler5dMessage`	Yes	100
`ld`	Relative Doppler	Model present	`JavadRelativeDopplerldMessage`	Yes	100
`EC`	SNR	Model present	`JavadSignalToNoiseECMessage`	Yes	100
`E1`	SNR	Model present	`JavadSignalToNoiseE1Message`	Yes	100
`E2`	SNR	Model present	`JavadSignalToNoiseE2Message`	Yes	100
`E3`	SNR	Model present	`JavadSignalToNoiseE3Message`	Yes	100
`E5`	SNR	Model present	`JavadSignalToNoiseE5Message`	Yes	100
`El`	SNR	Model present	`JavadSignalToNoiseElMessage`	Yes	100
`CE`	SNR x 4	Model present	`JavadSignalToNoiseQuarterCEMessage`	Yes	101
`1E`	SNR x 4	Model present	`JavadSignalToNoiseQuarter1EMessage`	Yes	101
`2E`	SNR x 4	Model present	`JavadSignalToNoiseQuarter2EMessage`	Yes	101
`3E`	SNR x 4	Model present	`JavadSignalToNoiseQuarter3EMessage`	Yes	101
`5E`	SNR x 4	Model present	`JavadSignalToNoiseQuarter5EMessage`	Yes	101
`lE`	SNR x 4	Model present	`JavadSignalToNoiseQuarterlEMessage`	Yes	101
`s0`	SNR x 256	Model present	`JavadSignalToNoise256s0Message`	Yes	101
`s1`	SNR x 256	Model present	`JavadSignalToNoise256s1Message`	Yes	101
`s2`	SNR x 256	Model present	`JavadSignalToNoise256s2Message`	Yes	101
`s3`	SNR x 256	Model present	`JavadSignalToNoise256s3Message`	Yes	101
`s5`	SNR x 256	Model present	`JavadSignalToNoise256s5Message`	Yes	101
`sl`	SNR x 256	Model present	`JavadSignalToNoise256slMessage`	Yes	101
`j0`	Data SNR x 256	Model present	`JavadDataSignalToNoise256j0Message`	Yes	101
`j1`	Data SNR x 256	Model present	`JavadDataSignalToNoise256j1Message`	Yes	101
`j2`	Data SNR x 256	Model present	`JavadDataSignalToNoise256j2Message`	Yes	101
`j3`	Data SNR x 256	Model present	`JavadDataSignalToNoise256j3Message`	Yes	101
`j5`	Data SNR x 256	Model present	`JavadDataSignalToNoise256j5Message`	Yes	101
`jl`	Data SNR x 256	Model present	`JavadDataSignalToNoise256jlMessage`	Yes	101
`FC`	Signal Lock Loop Flags	Model present	`JavadSignalLockFlagsFCMessage`	Yes	101
`F1`	Signal Lock Loop Flags	Model present	`JavadSignalLockFlagsF1Message`	Yes	101
`F2`	Signal Lock Loop Flags	Model present	`JavadSignalLockFlagsF2Message`	Yes	101
`F3`	Signal Lock Loop Flags	Model present	`JavadSignalLockFlagsF3Message`	Yes	101
`F5`	Signal Lock Loop Flags	Model present	`JavadSignalLockFlagsF5Message`	Yes	101
`Fl`	Signal Lock Loop Flags	Model present	`JavadSignalLockFlagsFlMessage`	Yes	101
`ec`	Raw Inphases (I)	Model present	`JavadInphaseAmplitudeecMessage`	Yes	103
`e1`	Raw Inphases (I)	Model present	`JavadInphaseAmplitudee1Message`	Yes	103
`e2`	Raw Inphases (I)	Model present	`JavadInphaseAmplitudee2Message`	Yes	103
`e3`	Raw Inphases (I)	Model present	`JavadInphaseAmplitudee3Message`	Yes	103
`e5`	Raw Inphases (I)	Model present	`JavadInphaseAmplitudee5Message`	Yes	103
`qc`	Raw Quadratures (Q)	Model present	`JavadQuadratureAmplitudeqcMessage`	Yes	103
`q1`	Raw Quadratures (Q)	Model present	`JavadQuadratureAmplitudeq1Message`	Yes	103
`q2`	Raw Quadratures (Q)	Model present	`JavadQuadratureAmplitudeq2Message`	Yes	103
`q3`	Raw Quadratures (Q)	Model present	`JavadQuadratureAmplitudeq3Message`	Yes	103
`q5`	Raw Quadratures (Q)	Model present	`JavadQuadratureAmplitudeq5Message`	Yes	103
`x0`	S4	Model present	`JavadScintillationS4x0Message`	Yes	103
`x1`	S4	Model present	`JavadScintillationS4x1Message`	Yes	103
`x2`	S4	Model present	`JavadScintillationS4x2Message`	Yes	103
`x3`	S4	Model present	`JavadScintillationS4x3Message`	Yes	103
`x5`	S4	Model present	`JavadScintillationS4x5Message`	Yes	103
`x4`	S4	Model present	`JavadScintillationS4x4Message`	Yes	103
`y0`	SigmaPhi	Model present	`JavadScintillationSigmaPhiy0Message`	Yes	103
`y1`	SigmaPhi	Model present	`JavadScintillationSigmaPhiy1Message`	Yes	103
`y2`	SigmaPhi	Model present	`JavadScintillationSigmaPhiy2Message`	Yes	103
`y3`	SigmaPhi	Model present	`JavadScintillationSigmaPhiy3Message`	Yes	103
`y5`	SigmaPhi	Model present	`JavadScintillationSigmaPhiy5Message`	Yes	103
`y4`	SigmaPhi	Model present	`JavadScintillationSigmaPhiy4Message`	Yes	103
`IQ`	1-millisecond I and Q Samples	Model present	`JavadIqSamplesMessage`	Yes	104
`TC`	CA/L1 Continuous Tracking Time	Model present	`JavadContinuousTrackingTimeMessage`	Yes	104
`SS`	Satellite Navigation Status	Model present	`JavadSatelliteNavigationStatusMessage`	Yes	104
`ID`	Ionospheric Delays	Model present	`JavadIonosphericDelaysMessage`	Yes	105
`rr`	Satellite Range Residuals	Model present	`JavadRangeResidualsMessage`	Yes	105
`vr`	Satellite Velocity Residuals	Model present	`JavadVelocityResidualsMessage`	Yes	105
`GA`	GPS Almanac	Model present	`JavadGpsAlmanacMessage`	Yes	105
`EA`	GALILEO Almanac	Model present	`JavadGalileoAlmanacMessage`	Yes	106
`QA`	QZSS Almanac	Model present	`JavadQzssAlmanacMessage`	Yes	106
`CA`	BeiDou Almanac	Model present	`JavadBeiDouAlmanacMessage`	Yes	106
`IA`	IRNSS Almanac	Model present	`JavadIrnssAlmanacMessage`	Yes	106
`NA`	GLONASS Almanac	Model present	`JavadGlonassAlmanacMessage`	Yes	107
`WA`	SBAS Almanac	Model present	`JavadSbasAlmanacMessage`	Yes	107
`GE`	GPS Ephemeris	Model present	`JavadGpsEphemerisMessage`	Yes	108
`EN`	GALILEO Ephemeris	Model present	`JavadGalileoEphemerisMessage`	Yes	109
`QE`	QZSS Ephemeris	Model present	`JavadQzssEphemerisMessage`	Yes	110
`CN`	BeiDou Ephemeris	Model present	`JavadBeiDouEphemerisMessage`	Yes	110
`NE`	GLONASS Ephemeris	Model present	`JavadGlonassEphemerisMessage`	Yes	111
`WE`	SBAS Ephemeris	Model present	`JavadSbasEphemerisMessage`	Yes	112
`IE`	IRNSS Ephemeris	Model present	`JavadIrnssEphemerisMessage`	Yes	112
`gd`	GPS Raw Navigation Data	Model present	`JavadGpsRawNavigationDataMessage`	Yes	113
`qd`	QZSS Raw Navigation Data	Model present	`JavadQzssRawNavigationDataMessage`	Yes	114
`lD`	GLONASS Raw Navigation Data	Model present	`JavadGlonassRawNavigationDataMessage`	Yes	114
`WD`	SBAS Raw Navigation Data	Model present	`JavadSbasRawNavigationDataMessage`	Yes	114
`ED`	GALILEO Raw Navigation Data	Model present	`JavadGalileoRawNavigationDataMessage`	Yes	115
`cd`	BeiDou Raw Navigation Data	Model present	`JavadBeiDouRawNavigationDataMessage`	Yes	116
`id`	IRNSS Raw Navigation Data	Model present	`JavadIrnssRawNavigationDataMessage`	Yes	117
`xd`	QZSS L6 Raw Navigation Data	Model present	`JavadQzssL6RawNavigationDataMessage`	Yes	117
`sp`	Spectrum	Model present	`JavadSpectrumMessage`	Yes	118
`sP`	Extended Spectrum	Model present	`JavadExtendedSpectrumMessage`	Yes	118
`Sp`	Single Spectrum	Model present	`JavadSingleSpectrumMessage`	Yes	118
`ms`	Modem Spectrum	Model present	`JavadModemSpectrumMessage`	Yes	119
`gC`	GLONASS Delays	Model present	`JavadGlonassDelaysgCMessage`	Yes	119
`g1`	GLONASS Delays	Model present	`JavadGlonassDelaysg1Message`	Yes	119
`g2`	GLONASS Delays	Model present	`JavadGlonassDelaysg2Message`	Yes	119
`g3`	GLONASS Delays	Model present	`JavadGlonassDelaysg3Message`	Yes	119
`gR`	Code Delays of Receiver RF Bands	Model present	`JavadReceiverBandDelaysMessage`	Yes	120
`MR`	Rotation Matrix	Model present	`JavadRotationMatrixMessage`	Yes	121
`mr`	Rotation Matrix and Vectors	Model present	`JavadRotationMatrixVectorsMessage`	Yes	121
`AR`	Rotation Angles	Model present	`JavadRotationAnglesMessage`	Yes	121
`AV`	Angular Velocities	Model present	`JavadAngularVelocityMessage`	Yes	121
`IM`	Inertial Measurements	Model present	`JavadInertialMeasurementsMessage`	Yes	122
`MA`	Accelerometer and Magnetometer Measurements	Model present	`JavadAccelerometerMagnetometerMessage`	Yes	122
`fA`	Accelerometer Raw Data	Model present	`JavadAccelerometerRawMessage`	Yes	122
`lA`	Accelerometer Raw Data	Model present	`JavadAccelerometerLRawMessage`	Yes	123
`tA`	Accelerometer and Gyroscope calibrated Data	Model present	`JavadCalibratedInertialMeasurementsMessage`	Yes	123
`aV`	Gyroscope Raw Data	Model present	`JavadGyroscopeRawMessage`	Yes	123
`mA`	Magnetometer Raw Data	Model present	`JavadMagnetometerRawMessage`	Yes	123
`dV`	Acceleration in ENU	Model present	`JavadEnuAccelerationMessage`	Yes	124
`PE`	WGS84 Coordinates of the Pole End	Model present	`JavadPoleEndCoordinatesMessage`	Yes	124
`pV`	Local Coordinates of Antenna Phase Center	Model present	`JavadAntennaPhaseCenterLocalCoordinatesMessage`	Yes	124
`pE`	Tilt-compensated Solution (full)	Model present	`JavadTiltCompensatedSolutionMessage`	Yes	124
`pe`	Tilt-compensated Solution (short)	Model present	`JavadTiltCompensatedSolutionShortMessage`	Yes	126
`XA`	External Event	Model present	`JavadExternalEventXAMessage`	Yes	127
`XB`	External Event	Model present	`JavadExternalEventXBMessage`	Yes	127
`ZA`	PPS Offset	Model present	`JavadPpsOffsetZAMessage`	Yes	127
`ZB`	PPS Offset	Model present	`JavadPpsOffsetZBMessage`	Yes	127
`YA`	Time Offset at PPS Generation Time	Model present	`JavadPpsTimeOffsetYAMessage`	Yes	128
`YB`	Time Offset at PPS Generation Time	Model present	`JavadPpsTimeOffsetYBMessage`	Yes	128
`ha`	Heading and Pitch	Model present	`JavadHeadingPitchMessage`	Yes	128
`RO`	Lever Arm Cartesian Position	Model present	`JavadLeverArmCartesianPositionMessage`	Yes	128
`RG`	Lever Arm Geodetic Position	Model present	`JavadLeverArmGeodeticPositionMessage`	Yes	128
`RE`	Reply	Model present	`JavadReplyMessage`	Yes	129
`ER`	Error	Model present	`JavadErrorMessage`	Yes	129
`IO`	GPS Ionospheric Parameters	Model present	`JavadGpsIonosphericParametersMessage`	Yes	129
`QI`	QZSS Ionospheric Parameters	Model present	`JavadQzssIonosphericParametersMessage`	Yes	130
`CI`	BeiDou Ionospheric Parameters	Model present	`JavadBeiDouIonosphericParametersMessage`	Yes	130
`II`	IRNSS Ionospheric Parameters	Model present	`JavadIrnssIonosphericParametersMessage`	Yes	130
`==`	Event	Model present	`JavadEventMessage`	Yes	131
`LT`	Message Output Latency	Model present	`JavadMessageOutputLatencyMessage`	Yes	131
`>>`	Wrapper	Model present	`JavadWrapperMessage`	Yes	131
`PM`	Parameters	Model present	`JavadParametersMessage`	Yes	132
`LH`	Logging History	Model present	`JavadLoggingHistoryMessage`	Yes	133
`AI`	Antenna Information	Model present	`JavadAntennaInformationMessage`	Yes	134
`BI`	Base Station Information	Model present	`JavadBaseStationInformationMessage`	Yes	134
`SE`	Security	Model present	`JavadSecurityMessage`	Yes	134
`SM`	Security for [rM]	Model present	`JavadSecurityRmMessage`	Yes	134
`TT`	CA/L1 Overall Continuous Tracking Time	Model present	`JavadOverallContinuousTrackingTimeMessage`	Yes	134
`OO`	Oscillator Offset	Model present	`JavadOscillatorOffsetMessage`	Yes	135
`\|\|`	Epoch End	Model present	`JavadEpochEndMessage`	Yes	135
`DL`	Data Link Status	Model present	`JavadDataLinkStatusMessage`	Yes	137
`GS`	GPS SVs Status	Model present	`JavadGpsSatelliteStatusMessage`	Yes	138
`ES`	GALILEO SVs Status	Model present	`JavadGalileoSatelliteStatusMessage`	Yes	139
`WS`	SBAS SVs Status	Model present	`JavadSbasSatelliteStatusMessage`	Yes	140
`NS`	GLONASS SVs Status	Model present	`JavadGlonassSatelliteStatusMessage`	Yes	140
`QS`	QZSS SVs Status	Model present	`JavadQzssSatelliteStatusMessage`	Yes	141
`CS`	BeiDou SVs Status	Model present	`JavadBeiDouSatelliteStatusMessage`	Yes	142
`Is`	IRNSS SVs Status	Model present	`JavadIrnssSatelliteStatusMessage`	Yes	142
`LS`	L-band SVs Status	Model present	`JavadLBandSatelliteStatusMessage`	Yes	143
`RS`	Reference Station Status	Model present	`JavadReferenceStationStatusMessage`	Yes	144
`TX`	RTCM/CMR Text Message	Model present	`JavadCorrectionTextMessage`	Yes	144
`RM`	Results of RAIM Processing	Model present	`JavadRaimMessage`	Yes	145
`NP`	Navigation Position	Model present	`JavadNavigationPositionMessage`	Yes	146
`MP`	Position in Map Projection	Model present	`JavadMapProjectionMessage`	Yes	148
`NR`	Lever Arm Position	Model present	`JavadLeverArmPositionTextMessage`	Yes	150
`SY`	Geographic and Quasi Geographic Position	Model present	`JavadQuasiGeographicPositionMessage`	Yes	151
`TR`	Time Residuals	Model present	`JavadTimeResidualsMessage`	Yes	151
`TM`	Clock Offsets and Time Derivatives	Model present	`JavadClockOffsetsMessage`	Yes	153
`RP`	Reference Station Parameters	Model present	`JavadReferenceStationParametersMessage`	Yes	154
`RK`	RTK Solution Parameters	Model present	`JavadRtkParametersMessage`	Yes	155
`AP`	Position Covariance Matrix	Model present	`JavadPositionCovarianceTextMessage`	Yes	156
`AB`	Baseline	Model present	`JavadBaselineTextMessage`	Yes	157
`QQ`	IMU Attitude Angles	Model present	`JavadImuAttitudeMessage`	Yes	157
`WW`	IMU Measurements	Model present	`JavadImuMeasurementsMessage`	Yes	158
`ZZ`	IMU Integrated Antenna Velocities	Model present	`JavadImuAntennaVelocityMessage`	Yes	159
`TD`	Text Data	Model present	`JavadTextDataMessage`	Yes	159
`SI`	Satellite indices (obsolete USI form; compatibility section)	Model present	`JavadSatelliteIndicesMessage`	Yes	87
`sj`	Spoofing/Jamming Information	Model present	`JavadSpoofingJammingMessage`	Yes	130
`rE`	Reference Epoch (obsolete)	Model present	`JavadLegacyReferenceEpochMessage`	Yes	556
`rM`	Raw Measurements (obsolete)	Model present	`JavadLegacyRawMeasurementsMessage`	Yes	557
`rV`	Receiver Position and Velocity (obsolete)	Model present	`JavadLegacyPositionVelocityMessage`	Yes	559
`rT`	Receiver Clock Offsets (obsolete)	Model present	`JavadLegacyClockOffsetsMessage`	Yes	560
`GD`	GPS Raw Navigation Data (obsolete)	Model present	`JavadLegacyGpsNavigationGDMessage`	Yes	561
`QD`	QZSS Raw Navigation Data (obsolete)	Model present	`JavadLegacyGpsNavigationQDMessage`	Yes	561
`LD`	GLONASS Raw Navigation Data (obsolete)	Model present	`JavadLegacyGlonassNavigationMessage`	Yes	562
`MS`	RTCM 2.x Status (obsolete)	Model present	`JavadRtcmStatusMessage`	Yes	562

All protocols

22 October 2026