Septentrio Binary Format (SBF)

Septentrio receiver binary blocks for PVT, quality, status, observations, and raw navigation data.

Connect the parser

using Asv.Gnss;
using Asv.IO;

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

The stream parser is SbfBinaryParser and its message model is SbfMessageBase. See Quick Start for router, port, and subscription setup. Registration selects decoders; the receiver must already be configured to emit the required data.

Default message coverage

The default set includes GPS and GLONASS raw C/A blocks, MeasEpoch revision 1, PVTGeodetic revision 2, DOP, ReceiverStatus revision 1, QualityInd, and GPSNav. Block revision is part of the model contract.

Message model
`SbfPacketGpsRawCa`
`SbfPacketGloRawCa`
`SbfPacketMeasEpochRev1`
`SbfPacketPvtGeodeticRev2`
`SbfPacketDOP`
`SbfPacketReceiverStatusRev1`
`SbfPacketQualityInd`
`SbfPacketGpsNav`

Usage and limitations

This is a decoding interface: SbfMessageBase.Serialize and GetByteSize throw NotImplementedException. SbfPacketMeasEpochRev1 is explicitly marked incomplete in the factory. Do not infer support for other block revisions from a matching block name.

Implementation reference

Coverage above follows Parsers/SBF/SbfMessageFactory.cs under src/Asv.Gnss. Inspect concrete message classes for field names, units, and supported payload revisions.

Specification message catalog

Sources: Parsers/SBF/Docs/SBF Reference Guide.pdf, v1.11.0, block catalog on PDF pp. 9-10; Parsers/SBF/Docs/asterx-u_firmware_v4.6.1_reference_guide (1).pdf, firmware v4.6.1, Appendix B on PDF pp. 440-443. The table is the union by numeric block number; different block numbers remain separate even when their names match. The older guide's block-version column is not the payload revision encoded by the C# model. The model column gives the implemented payload revision; other revisions are not implied.

Status: Model present means a concrete payload model exists in the current checkout; it does not certify complete field, revision, encoding, or firmware coverage. Partial identifies a known incomplete decoder. Not implemented means no matching concrete model was found. Default reports whether the standard registration adds that model. Models outside the default set require explicit registration. See the limitations above before transmitting messages.

Page references below are PDF page numbers (1-based), including covers and front matter.

Block ID	Block name	Status	C# model / payload revision	Default	PDF reference
4000	MeasExtra	Not implemented	-	No	Guide p. 9; AsteRx-U p. 440
4001	DOP	Model present	`SbfPacketDOP`; revision 0	Yes	Guide p. 10; AsteRx-U p. 442
4002	GALNav	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4003	GALAlm	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4004	GLONav	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4005	GLOAlm	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4006	PVTCartesian	Not implemented	-	No	Guide p. 10; AsteRx-U p. 441
4007	PVTGeodetic	Model present	`SbfPacketPvtGeodeticRev2`; revision 2	Yes	Guide p. 10; AsteRx-U p. 442
4008	PVTSatCartesian	Not implemented	-	No	Guide p. 10
4009	PVTResiduals	Not implemented	-	No	Guide p. 10
4011	RAIMStatistics	Not implemented	-	No	Guide p. 10
4012	SatVisibility	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4013	ChannelStatus	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4014	ReceiverStatus	Model present	`SbfPacketReceiverStatusRev1`; revision 1	Yes	Guide p. 10; AsteRx-U p. 442
4015	Commands	Not implemented	-	No	Guide p. 10; AsteRx-U p. 443
4017	GPSRawCA	Model present	`SbfPacketGpsRawCa`; revision 0	Yes	Guide p. 9; AsteRx-U p. 440
4018	GPSRawL2C	Model present	`SbfPacketGpsRawL2C`; revision 0	No	Guide p. 9; AsteRx-U p. 440
4019	GPSRawL5	Model present	`SbfPacketGpsRawL5`; revision 0	No	Guide p. 9; AsteRx-U p. 440
4020	GEORawL1	Model present	`SbfPacketGeoRawL1`; revision 0	No	Guide p. 9; AsteRx-U p. 440
4021	GEORawL5	Model present	`SbfPacketGeoRawL5`; revision 0	No	AsteRx-U p. 440
4022	GALRawFNAV	Model present	`SbfPacketGalRawFnav`; revision 0	No	Guide p. 9; AsteRx-U p. 440
4023	GALRawINAV	Model present	`SbfPacketGalRawInav`; revision 0	No	Guide p. 9; AsteRx-U p. 440
4024	GALRawCNAV	Model present	`SbfPacketGalRawCnav`; revision 0	No	Guide p. 9; AsteRx-U p. 440
4026	GLORawCA	Model present	`SbfPacketGloRawCa`; revision 0	Yes	Guide p. 9; AsteRx-U p. 440
4027	MeasEpoch	Partial	`SbfPacketMeasEpochRev1`; revision 1	Yes	Guide p. 9; AsteRx-U p. 440
4028	BaseVectorGeod	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4030	GALIon	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4031	GALUtc	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4032	GALGstGps	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4034	GALSARRLM	Not implemented	-	No	AsteRx-U p. 441
4036	GLOTime	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
4037	ExtEventPVTCartesian	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4038	ExtEventPVTGeodetic	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4040	BBSamples	Not implemented	-	No	Guide p. 10; AsteRx-U p. 443
4043	BaseVectorCart	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4044	PosCart	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4045	IntPVAAGeod	Not implemented	-	No	Guide p. 10
4046	IQCorr	Not implemented	-	No	Guide p. 9
4047	CMPRaw	Model present	`SbfPacketBdsRaw`; revision 0	No	Guide p. 9; AsteRx-U p. 440
4049	RTCMDatum	Not implemented	-	No	AsteRx-U p. 442
4050	ExtSensorMeas	Not implemented	-	No	Guide p. 10
4051	BluetoothStatus	Not implemented	-	No	AsteRx-U p. 443
4052	PosLocal	Not implemented	-	No	AsteRx-U p. 442
4053	NTRIPClientStatus	Not implemented	-	No	AsteRx-U p. 442
4054	WiFiAPStatus	Not implemented	-	No	AsteRx-U p. 443
4055	CellularStatus	Not implemented	-	No	AsteRx-U p. 443
4056	ExtSensorStatus	Not implemented	-	No	Guide p. 10
4057	ExtSensorSetup	Not implemented	-	No	Guide p. 10
4058	IPStatus	Not implemented	-	No	AsteRx-U p. 442
4059	DiskStatus	Not implemented	-	No	AsteRx-U p. 443
4060	IntPVCart	Not implemented	-	No	Guide p. 10
4061	IntPVGeod	Not implemented	-	No	Guide p. 10
4062	IntPosCovCart	Not implemented	-	No	Guide p. 10
4063	IntVelCovCart	Not implemented	-	No	Guide p. 10
4064	IntPosCovGeod	Not implemented	-	No	Guide p. 10
4065	IntVelCovGeod	Not implemented	-	No	Guide p. 10
4066	QZSRawL1CA	Model present	`SbfPacketQzsRawL1Ca`; revision 0	No	AsteRx-U p. 440
4067	QZSRawL2C	Model present	`SbfPacketQzsRawL2C`; revision 0	No	AsteRx-U p. 441
4068	QZSRawL5	Model present	`SbfPacketQzsRawL5`; revision 0	No	AsteRx-U p. 441
4069	QZSRawL6	Model present	`SbfPacketQzsRawL6`; revision 0	No	AsteRx-U p. 441
4070	IntAttEuler	Not implemented	-	No	Guide p. 10
4072	IntAttCovEuler	Not implemented	-	No	Guide p. 10
4075	ASCIIIn	Not implemented	-	No	AsteRx-U p. 443
4076	PVTSupport	Not implemented	-	No	AsteRx-U p. 442
4079	PVTSupportA	Not implemented	-	No	AsteRx-U p. 442
4081	BDSNav	Not implemented	-	No	AsteRx-U p. 441
4082	QualityInd	Model present	`SbfPacketQualityInd`; revision 0	Yes	AsteRx-U p. 443
4084	RxComponents	Not implemented	-	No	AsteRx-U p. 443
4085	UHFStatus	Not implemented	-	No	AsteRx-U p. 443
4090	InputLink	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4091	OutputLink	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4092	RFStatus	Not implemented	-	No	AsteRx-U p. 443
4093	NAVICRaw	Model present	`SbfPacketNavicRaw`; revision 0	No	AsteRx-U p. 441
4094	PosProjected	Not implemented	-	No	AsteRx-U p. 442
4095	QZSNav	Not implemented	-	No	AsteRx-U p. 441
4096	WiFiClientStatus	Not implemented	-	No	AsteRx-U p. 443
4097	EncapsulatedOutput	Not implemented	-	No	AsteRx-U p. 443
4103	RxMessage	Not implemented	-	No	AsteRx-U p. 443
4105	DynDNSStatus	Not implemented	-	No	AsteRx-U p. 443
4109	Meas3Ranges	Not implemented	-	No	AsteRx-U p. 440
4110	Meas3CN0HiRes	Not implemented	-	No	AsteRx-U p. 440
4111	Meas3Doppler	Not implemented	-	No	AsteRx-U p. 440
4112	Meas3PP	Not implemented	-	No	AsteRx-U p. 440
4113	Meas3MP	Not implemented	-	No	AsteRx-U p. 440
4116	QZSAlm	Not implemented	-	No	AsteRx-U p. 441
4119	BDSAlm	Not implemented	-	No	AsteRx-U p. 441
4120	BDSIon	Not implemented	-	No	AsteRx-U p. 441
4121	BDSUtc	Not implemented	-	No	AsteRx-U p. 441
4122	NTRIPServerStatus	Not implemented	-	No	AsteRx-U p. 442
4201	LBandTrackerStatus	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
4202	LBAS1DecoderStatus	Not implemented	-	No	Guide p. 10
4203	LBAS1Messages	Not implemented	-	No	Guide p. 10
4204	LBandBeams	Not implemented	-	No	AsteRx-U p. 442
4217	ExtEventBaseVectGeod	Not implemented	-	No	AsteRx-U p. 442
4218	BDSRawB1C	Model present	`SbfPacketBdsRawB1C`; revision 0	No	AsteRx-U p. 440
4219	BDSRawB2a	Model present	`SbfPacketBdsRawB2A`; revision 0	No	AsteRx-U p. 440
4237	ExtEventAttEuler	Not implemented	-	No	AsteRx-U p. 442
4243	CosmosStatus	Not implemented	-	No	AsteRx-U p. 443
5889	MeasEpoch	Not implemented	-	No	Guide p. 9
5890	ShortMeasEpoch	Not implemented	-	No	Guide p. 9
5891	GPSNav	Model present	`SbfPacketGpsNav`; revision 1	Yes	Guide p. 9; AsteRx-U p. 441
5892	GPSAlm	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5893	GPSIon	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5894	GPSUtc	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5895	GPSRaw	Not implemented	-	No	Guide p. 9
5896	GEONav	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5897	GEOAlm	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5898	GEORaw	Not implemented	-	No	Guide p. 9
5902	ReceiverSetup	Not implemented	-	No	Guide p. 10; AsteRx-U p. 443
5903	PVTCartesian	Not implemented	-	No	Guide p. 9
5904	PVTGeodetic	Not implemented	-	No	Guide p. 9
5905	PosCovCartesian	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5906	PosCovGeodetic	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5907	VelCovCartesian	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5908	VelCovGeodetic	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5909	DOP	Not implemented	-	No	Guide p. 10
5910	PVTResiduals	Not implemented	-	No	Guide p. 10
5911	xPPSOffset	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5912	TrackingStatus	Not implemented	-	No	Guide p. 10
5913	ReceiverStatus	Not implemented	-	No	Guide p. 10
5914	ReceiverTime	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5915	RAIMStatistics	Not implemented	-	No	Guide p. 10
5917	GEOServiceLevel	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5918	GEONetworkTime	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5919	DiffCorrIn	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5920	DiffCorrEpoch	Not implemented	-	No	Guide p. 10
5921	EndOfPVT	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5922	EndOfMeas	Not implemented	-	No	Guide p. 9; AsteRx-U p. 440
5924	ExtEvent	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5925	GEOMT00	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5926	GEOPRNMask	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5927	GEOFastCorr	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5928	GEOIntegrity	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5929	GEOFastCorrDegr	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5930	GEODegrFactors	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5931	GEOIGPMask	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5932	GEOLongTermCor	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5933	GEOIonoDelay	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5934	GEOClockEphCovMatrix	Not implemented	-	No	Guide p. 9; AsteRx-U p. 441
5935	GEOCorrections	Not implemented	-	No	Guide p. 10
5936	Comment	Not implemented	-	No	Guide p. 10; AsteRx-U p. 443
5938	AttEuler	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5939	AttCovEuler	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5942	AuxAntPositions	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5943	EndOfAtt	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5944	GenMeasEpoch	Not implemented	-	No	Guide p. 9
5947	CNAVRaw	Not implemented	-	No	Guide p. 9
5949	BaseStation	Not implemented	-	No	Guide p. 10; AsteRx-U p. 442
5950	BaseLine	Not implemented	-	No	AsteRx-U p. 442
6000	SystemInfo	Not implemented	-	No	AsteRx-U p. 443

All protocols

22 October 2026