121
NAV – TIMEGPS (0x01 0x20)
It periodically polls the information about GPS time.
Header ID
Data
Length
Data
Checksum
0xB5 0x62
0x01 0x20
16
See below
CK_A CK_B
Data
Offset bytes
Format
Descriptions
Notes
0
U4
GPS time of week (ms)
4
I4
Remainder of rounded GPS time
of week relative to GPS
millisecond time of week (ns)
-500000 ~ 500000
8 I2
GPS
week
10
I1
Leap seconds (s)
GPS – UTC
11
U1
Flags
0x01 – valid time of week
0x02 – valid week number
0x04 – valid UTC
12
U4
Time accuracy (ns)