User visible changes in the firmware version 3.6.1 since version 3.6.0.

                             Highlights.

1. Application of tropospheric correction to computation of receiver
   velocity has been implemented.

2. Check of SBAS almanac health has been added to application of SBAS
   corrections. Corrections from any SBAS satellite are not now
   applied if corresponding bit in health data is set.

3. Selection of separate SBAS providers with new parameter
   "/par/pos/wd/sbas/provider" has been implemented.

4. Improved extrapolation of receiver clock when no solution is
   available.

5. Bug in DGNSS mode based on the RTCM3 and CMR messages introduced in
   version 3.6.0 has been fixed.

6. Wrong value of "wna" field in GALILEO almanac during week rollover
   has been corrected.

7. TR_G3H rev.7: correct work with IMU_NEVA

8. /par/net/tcpcl/X/state: fix reporting of "dns" state when DNS
   request was already satisfied, and not reporting "dns" when DNS
   request was in progress.

9. /par/pos/pd/resetonly parameter implemented.

10. TRIUMPH2: fix "all options disabled" LEDs indication.

11. Bug in the processing of Galileo almanac corrupting data integrity
    has been fixed.

12. Prevent firmware hang when "set,/par/reset,y" command is sent
    when file-system format is in progress.

13. Implemented initialization of WLAN parameters, by
    "init,/par/net/wlan/" command.

14. TRIUMPH2: set WLAN mode to ADHOC by default, turn DHCP server on
    by default.

15. TRIUMPH2: support rev.4 of the board.

16. Bugs in processing of alert flags of GLONASS and Galileo data
    has been fixed.

17. Bug in decoding of GPS and QZSS UTC and iono data has been fixed.

18. UHF modem: support of values 6250 Hz and 20000 Hz of channel
    spacing parameter for Transparent w/EOT, Trimtalk 450S,
    TT450S(HW), Trimmark3, Trimmark ll/lle and STL protocols

19. DHCP client will now set IP address of DNS server autamatically,
    e.g., when connecting over WiFi.

21. Rather rarely, absence of raw CNAV data in "gd" messages for some
    particular satellite(s) has been noticed. Fixed.

22. TRIUMPH1_M: selection of registration mode for GSM was
    implemented.

23. RTK: /par/pos/pd/resetfix parameter implemented. Autoreset of the fixed
    RTK engine, if multirtk mode is on.

24. WLAN: fix AP selection to select one with best RSSI.

25. TYRANT: implement bit#4 in PRTT option to allow for RS232 port.

26. Bug processing ephemerides provided by RTCM3 messages has been
    fixed.

27. TRIUMPH_M: SD card support implemented. New parameter
    /par/dev/blk/a/mem implemented.

28. One more field has been added in the tail of "xd" message. It's
    meaning is number of corrected by decoder symbols.

29. Bug processing ephemerides provided by RTCM3 messages has been
    fixed.

30. Bug has been fixed - empty [TR] messages.

31. TRIUMPH1,TRE_XXX,TR_VS: fixed problem with newer SDRAM chips.

32: WLAN: WPA support has been implmented.

33. DNS Service Discovery (DNS-SD) protocol implemented.

34. [TC] message shows now the track time for satellites with
    any available signals (not only C/A one).

35. TCP output server: fix bug not working when Ethernet is active and
    GPRS goes up.

36. /par/net/tcpcl/X/rcv/login: change to accept arbitrary string.

37. UHF and FH modems: New parameters were added for getting the
    current value of transferred bytes.

38. UHF and FH modems: New value "init" was added for status parameter.

39. Import new antenna database <NGS-14/11/07=514>.

40. CMR antenna IDs: a few JAVAD GNSS antennas were added.

41. Fix "create,/msg/rtk/jps/max/<MSG>" command: it didn't work and
    replied with error.

42. Increase maximum capacity of /msg/rtk/jps/min and /msg/rtk/jps/max,
    to aid in customization.

43. Take into account parameter /par/pos/elmode in the checks of the
    /par/lock/elm.

44. TRIUMPH_M: New parameters for getting of values of  voltage,
    current and temperature from communication board were added.

45. TRE_3: improved measurements of receier temperature 
    /par/dev/thermo/out.

46. BeiDou: fix courruption of pseudoranges after 2 weeks of
    istantaneous tracking from BeiDou GEO and IGSO satellites.
 
47. Use satellites with elevation less than -2 degrees in poisition
    computation when elevation mask allows us to.

48. SBAS: fix infrequent wrong rejection of ephemeris.
 
49. TCPO: make it work on ALPHA.

                      More Detailed Description
                (refer to GREIS for even more details)


                             1. Messages.

1.1 [xd]: last field "correctedErrorsNumber" has been added.

struct LexRawMessageType {261}  {
  U1 prn;                   //
  U4 time;                  //
  U1 data_type;             // always "0"
  U1 update_count;          //
  U1 length;                //
  U4 data[250/4+1];         //
  U1 correctedErrorsNumber; //
};


                             2. Parameters.

2.1 New parameters to select SBAS provider.

Name:    /par/pos/wd/sbas/provider
Access:  rw
Type:    array [0...15] of boolean
Values:  {y|n,...,y|n}
Default: {y,...,y}
Description: This parameter turns on/off SBAS providers.

Name:    /par/pos/wd/sbas/provider/N
Access:  rw
Type:    boolean
Values:  y|n
Default: y
Description: This parameter turns on/off N-th SBAS provider.

2.2 New parameters to reset RTK engines independently.

Name:    /par/pos/pd/resetonly
Access:  w
Type:    array [0...5] of boolean
Values:  {y|n,...,y|n}
Default: {n,...,n}
Description: This parameter causes resets of multi-rtk engines independently.

Name:    /par/pos/pd/resetonly/N
Access:  w
Type:    boolean
Values:  y|n
Default: n
Description: This parameter causes reset of N-th multi-rtk engine.

Name:    /par/pos/pd/resetfix
Access:  rw
Type:    boolean
Values:  y|n
Default: n
Description: When multirtk mode is on, this parameter causes the
reset of the engine that fixed.


2.3 '/par/net/wlan' parameters now support 'init' command.

init,/par/net/wlan/

will reset all WLAN parameters to their default values. Reboot or the
unit is required for the changes to take effect.

2.4 GSM new parameter

Name:    /par/modem/X/rmode (X=[a...d])
Access:  rw
Type:    enumerated
Value:   auto | 2g | 3g | 4g
Default: auto
Description: The parameter for selection of registration mode of GSM modem.

2.5 Modification of modem parameters

Modem Frequency parameter /par/modem/X/uhf/link/freq (X=[a...d])
New step: 10000 Hz

Channel Spacing parameter for Transparent w/EOT protocol
/par/modem/X/uhf/link/protst/tmo/space (X=[a...d])
New values: 6250, 20000

Channel Spacing parameter for Trimtalk 450S protocol
/par/modem/X/uhf/link/protst/trm/space (X=[a...d])
New values: 6250, 20000

Channel Spacing parameter for TT450S(HW) protocol
/par/modem/X/uhf/link/protst/tt450shw/space (X=[a...d])
New values: 6250, 20000

Channel Spacing parameter for Trimmark3 protocol
/par/modem/X/uhf/link/protst/trmm3/space (X=[a...d])
New values: 6250, 20000

Channel Spacing parameter for Trimmark ll/lle protocol
/par/modem/X/uhf/link/protst/trmm2/space (X=[a...d])
New values: 6250, 20000

Channel Spacing parameter for STL protocol
/par/modem/X/uhf/link/protst/stl/space (X=[a...d])
New values: 6250, 20000

2.6 Block Device New Parmeters to support external memroy device.

Memory to Use for Data Storage.

Name:    /par/dev/blk/a/mem
Access:  rw
Type:    enumerated
Value:   int,ext
Default: int

The memory to be used for data storage after next receiver reboot.

Memory Currently in Use for Data Storage.

Name:    /par/dev/blk/a/curmem
Access:  r
Type:    enumerated
Value:   int,ext
Default: int

The memory that is currently in use for data storage.

2.7 New WLAN Parameters

WLAN AP Mode

Name:           /par/net/wlan/ap/mode
Access:         rw
Type:           enumerated
Values:         wep,wpa
Default:        wep

'wep' - receiver will be able to associate to AP using either WEP
  encription or using non-encripted AP.

'wpa' - receiver will be able to associate with AP that uses
  WPA-PSK/WPA2-PSK. Parameters /par/net/wlan/ap/passphrase and
  /par/net/wlan/ap/ssid should also be set in this case

WLAN WPA Passphrase

Name:           /par/net/wlan/ap/passphrase
Access:         w
Type:           string[0..63]
Values:         (any string)
Default:        ""

This parameter specifies passphrase for WPA mode.

2.8 New parameters for DNS Service Discovery (DNS-SD)

DNS-SD Mode

Name:           /par/net/dnssd/responder/mode
Access:         rw
Type:           boolean
Values:         on,off
Default:        on

on  - DNS-SD responder is active.
off - DNS-SD responder is turned off.

2.9 Login Name for TCP Server

Changed to accept arbitrary string.

Name:     /par/net/tcpcl/X/rcv/login X=[a,b]
Access:   rw
Type:     string [0..32]
Values:   (any string)
Default:  ""

2.10 New UHF and FH modem parameters

The current value of transferred bytes for UHF modem

Name:     /par/modem/X/uhf/inf/link/tx/cnt/curbyte (X=[a...d])
Access:   r
Type:     integer
Values:   [0..4294967295]
Default:  0

The current value of transferred bytes for FH modem

Name:     /par/modem/X/fh/inf/link/tx/cnt/curbyte (X=[a...d])
Access:   r
Type:     integer
Values:   [0..4294967295]
Default:  0

2.11 Modification of Modem Control State parameter

Modem Control State /par/modem/X/state (X=[a...d])
New value: init

2.12 New Power parameters (only for TRIUMPH_M)

The power voltage of GSM modem.

Name:     /par/pwr/mdm/gpwr
Access:   r
Type:     float [volts]

The power voltage of Radio modem.

Name:     /par/pwr/mdm/mpwr
Access:   r
Type:     float [volts]

The current of Radio modem.

Name:     /par/pwr/mdm/mdc
Access:   r
Type:     float [milliamperes]

2.13 New Thermo parameter (only for TRIUMPH_M)

The temperature of communication board.

Name:     /par/dev/thermo/mdm
Access:   r
Type:     float [Celsius degrees]


                             3. Options.

No changes.

                             4. Commands.

No changes.


<END>
