florian@pc-florian ~ $ gpsd -n /dev/ttyACM0 
florian@pc-florian ~ $ ps -ef | grep gpsd
florian    21713       1  0 10:18 ?        00:00:00 gpsd -n /dev/ttyACM0
florian    21720   17100  0 10:18 pts/6    00:00:00 grep gpsd
florian@pc-florian ~ $ gpspipe -w
{"class":"VERSION","release":"3.20.1~dev","rev":"release-3.20-725-g14fd31ab1","proto_major":3,"proto_minor":14}
{"class":"DEVICES","devices":[{"class":"DEVICE","path":"/dev/ttyACM0","driver":"RTCM104V3","activated":"2020-05-15T08:18:51.187Z","flags":4,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00}]}
{"class":"WATCH","enable":true,"json":true,"nmea":false,"raw":0,"scaled":false,"timing":false,"split24":false,"pps":false}
{"class":"RTCM3","device":"/dev/ttyACM0","type":1077,"length":95,"data":["0x43","0x50","0x00","0x6e","0x29","0xa9","0x04","0x00","0x00","0x02","0x08","0x10","0xc0","0x00","0x00","0x00","0x00","0x20","0x00","0x00","0x00","0x7d","0x39","0x09","0x25","0x15","0x1c","0x00","0x00","0x3e","0xff","0x6e","0xd1","0x69","0xf1","0x70","0x65","0xc0","0x9a","0xf9","0x2f","0xe9","0x00","0x7c","0x39","0xa9","0x90","0xcf","0xa9","0x0a","0x37","0xff","0x3d","0x09","0x09","0x6a","0xab","0xe8","0x7d","0xd8","0x2e","0x48","0xe8","0x29","0x34","0x13","0xcf","0xc4","0xd0","0x2a","0x5a","0xe9","0x80","0x60","0x18","0x06","0x01","0x80","0x04","0x20","0xf0","0x3a","0x10","0x03","0xe0","0x27","0x94","0x9b","0xa7","0x07","0x5f","0x03","0x23","0x51","0x40"]}
{"class":"RTCM3","device":"/dev/ttyACM0","type":1230,"length":6,"station_id":0,"ind":"1","l1_ca":530}
{"class":"RTCM3","device":"/dev/ttyACM0","type":1005,"length":19,"station_id":0,"system":["GPS","GLONASS"],"refstation":false,"sro":true,"x":3717948.1529,"y":750948.4697,"z":5110635.2918}
{"class":"RTCM3","device":"/dev/ttyACM0","type":1077,"length":95,"data":["0x43","0x50","0x00","0x6e","0x29","0xb8","0xa4","0x00","0x00","0x02","0x08","0x10","0xc0","0x00","0x00","0x00","0x00","0x20","0x00","0x00","0x00","0x7d","0x39","0x09","0x25","0x15","0x1c","0x00","0x00","0x3e","0xdf","0x6e","0xd3","0x6a","0x31","0x60","0x65","0xc0","0x9a","0xf9","0x2f","0xe9","0x00","0x7c","0x0d","0x2a","0x63","0xc0","0xb0","0xfa","0x0f","0xf7","0xbe","0x2c","0xb3","0x1f","0xa8","0x36","0x72","0x47","0xea","0xc0","0x87","0xe8","0x75","0xdb","0xf0","0xc2","0x13","0xd1","0x5a","0xa5","0x81","0x60","0x58","0x16","0x05","0x81","0x04","0x20","0xf0","0x3a","0x10","0x03","0xe0","0x27","0x84","0x98","0x7e","0xf3","0x1f","0x0f","0x83","0x73","0x80"]}
{"class":"RTCM3","device":"/dev/ttyACM0","type":1230,"length":6,"station_id":0,"ind":"1","l1_ca":530}
{"class":"RTCM3","device":"/dev/ttyACM0","type":1005,"length":19,"station_id":0,"system":["GPS","GLONASS"],"refstation":false,"sro":true,"x":3717948.1529,"y":750948.4697,"z":5110635.2918}
^C
florian@pc-florian ~ $ ubxtool -p STATUS -p CONFIG -P 20.30
ubxtool: poll STATUS

sent:
UBX-MON-VER:
  Poll request

sent:
UBX-LOG-INFO:
  Poll request

sent:
UBX-MON-GNSS:
  Poll request

sent:
UBX-MON-HW:
  Poll request

sent:
UBX-MON-HW2:
  Poll request

sent:
UBX-MON-IO:
  Poll request

sent:
UBX-MON-MSGPP:
  Poll request

sent:
UBX-MON-RF:
  Poll request

sent:
Class x0a (MON) ID x0a, len 0x0, raw 

sent:
UBX-MON-TXBUF:
  Poll request

sent:
UBX-NAV-SVIN:
  Poll request

sent:
UBX-TIM-SVIN:
  Poll request

ubxtool: poll CONFIG

sent:
UBX-MON-VER:
  Poll request

sent:
UBX-CFG-ANT:
  Poll request

sent:
UBX-CFG-DAT:
  Poll request

sent:
UBX-CFG-GEOFENCE:
  Poll request

sent:
UBX-CFG-GNSS:
  Poll request

sent:
UBX-CFG-INF:
  Poll request: UBX

sent:
UBX-CFG-INF:
  Poll request: NMEA

sent:
UBX-CFG-LOGFILTER:
  Poll request

sent:
UBX-CFG-NAV5:
  Poll request

sent:
UBX-CFG-NAVX5:
  Poll request

sent:
UBX-CFG-NMEA:
  Poll request

sent:
UBX-CFG-ODO:
  Poll request

sent:
UBX-CFG-PRT:
  Poll request

sent:
UBX-CFG-PM2:
  Poll request

sent:
UBX-CFG-PMS:
  Poll request

sent:
UBX-CFG-RATE:
  Poll request

sent:
UBX-CFG-RXM:
  Poll request

sent:
UBX-CFG-TP5:
  Poll request

sent:
UBX-CFG-USB:
  Poll request

UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-LOG-INFO:
  version 1 reserved1 x0 x0 filestoreCapacity 1493760 reserved2 x9600 x11a300
  currentMaxLogSize 0 currentLogSize 0 entryCount 0
  oldestYear 0 oldestMonth 0 oldestDay 0 
  oldestHour 0 oldestMin 0 oldestSec 0 reserved3 x0
  newestYear 0 newestMonth 0 newestDay 0 
  newestHour 0 newestMin 0 newestSec 0 reserved4 x0
  status x10 reserved5 x0 x0

UBX-MON-GNSS:
   version 0 supported 0x7 defaultGnss 0x3 enabled 0x3
   simultaneous 2 reserved1 0 0 0

UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-CFG-ANT:
 flags x1b pins xb9f0 pinSwitch 16 pinSCD 15 pinOCD 14 reconfig 1

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x13 (ANT)

UBX-CFG-DAT:
  datumNum 0 datumNam 87 71 83 56 52 0
  majA 6378137.0 flat 298.3 dX 0.0 dY 0.0 dZ 0.0
  rotX 0.0 rotY 0.0 rotZ 0.0 scale 0.0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x06 (DAT)

UBX-CFG-GEOFENCE:
 version 0 numFences 0 confLvl 0 reserved1 0
 pioEnabled 0 pinPolarity 0 pin 0 reserved2 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x69 (GEOFENCE)

UBX-CFG-GNSS:
 msgVer 0  numTrkChHw 28 numTrkChUse 28 numConfigBlocks 4
  gnssId 0 TrkCh  8 maxTrCh 16 reserved 0 Flags x01010001
   GPS L1C/A enabled
  gnssId 3 TrkCh  8 maxTrCh 16 reserved 0 Flags x01010000
   BeiDou B1I 
  gnssId 5 TrkCh  0 maxTrCh  3 reserved 0 Flags x01010001
   QZSS L1C/A enabled
  gnssId 6 TrkCh  8 maxTrCh 14 reserved 0 Flags x01010001
   GLONASS L1 enabled

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x3e (GNSS)

UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x00 (PRT)

UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-CFG-INF:
 protocolId 0 reserved1 0 0 0
 infMsgMask 0 0 0 0 0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x02 (INF)

UBX-CFG-INF:
 protocolId 1 reserved1 0 0 0
 infMsgMask 7 7 0 7 7 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x02 (INF)

UBX-CFG-LOGFILTER:
 version 1 flags x0 minInterval 0 timeThreshold 0
 speedThreshold 0 positionThreshold 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x47 (LOGFILTER)

UBX-CFG-NAV5:
 mask 0xffff dynModel 2 fixmode 3 fixedAlt 0 FixedAltVar 10000
 minElev 10 drLimit 0 pDop 250 tDop 250 pAcc 100 tAcc 350
 staticHoldThresh 0 dgpsTimeOut 60 cnoThreshNumSVs 0
 cnoThresh 0 res 0 staticHoldMaxDist 0 utcStandard 0
 reserved x0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x24 (NAV5)

UBX-CFG-NAVX5:
 version 2 mask1 xffff mask2 x33f reserved1 259 minSVs 3 maxSVs 20 minCNO 6
 reserved2 0 iniFix3D 0 reserved3 1  ackAiding 0 wknRollover 1867
 sigAttenCompMode 0 reserved456 1 0 257 usePPP 1 aopCfg 0 reserved7 25600
 aopOrbMaxErr 0 reserved89 1179904 0 0 useAdr 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x23 (NAVX5)

UBX-CFG-NMEA:
 filter x0 nmeaVersion x40 numSv 0 flags x2 gnssToFilter x0
 svNumbering 0 mainTalkerId 0 gsvTalkerId 0 version 1
 bdsTalkerId 0 0 reserved1 0 0 0 0 0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x17 (NMEA)

UBX-CFG-ODO:
 version 0 reserved1 0 0 0 flags x0 odoCfg x0
 reserved2 0 0 25 70 25 102
 cagMaxSpeed 10 cogMaxPosAcc 50 reserved3 0 0
 velLpGain 153 cogLpGain 76 reserved4 0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x1e (ODO)

UBX-CFG-PRT:
 PortID 3 (USB) reserved1 0 txReady 0x0
  reserved2 [0 0]
  inProtoMask 0x23 outProtoMask 0x20
  reserved3 0 reserved4 0
    inProtoMask (UBX NMEA RTCM3)
    outProtoMask (RTCM3)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x00 (PRT)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x3b (PM2)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x86 (PMS)

UBX-CFG-RATE:
 measRate 1000 navRate 1 timeRef 1 (GPS)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x08 (RATE)

UBX-CFG-RXM:
 reserved1 72 lpMode 0 (Continuous Mode)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x11 (RXM)

UBX-CFG-TP5:
  tpIdx 0 version 1 reserved1 0
  antCableDelay 50 rfGroupDelay 0 freqPeriod 1000000 freqPeriodLock 1000000
  pulseLenRatio 0 pulseLenRatioLock 100000 userConfigDelay 0
  flags x77

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x31 (TP5)

UBX-CFG-USB:
  vendorID 0x1546 productID 0x1a8 reserved1 0 reserved2 0
  powerConsumption 100 mA flags 0x2
  vendorString u-blox AG - www.u-blox.com
  productString u-blox GNSS receiver
  serialNumber 

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x1b (USB)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x00 (PRT)

UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x01 (MSG)

UBX-NAV-SOL:
  iTOW 462087000 fTOW 177846 week 2105 gpsFix 5 flags xdd
  ECEF X 371794815 Y 75094847 Z 511063529 pAcc 2499
  VECEF X 0 Y 0 Z 0 sAcc 1
  pDOP 9999 reserved1 2 numSV 6 reserved2 62265618

UBX-NAV-PVT:
  iTOW 462087000 time 2020/5/15  8:21: 9 valid x37
  tAcc 40 nano 177847 fixType 5 flags x1 flags2 xea
  numSV 6 lon 114189332 lat 536018075 height 82113
  hMSL 38794 hAcc 20408 vAcc 14431
  velN 0 velE 0 velD 0 gSpeed 0 headMot 0
  sAcc 10 headAcc 17235598 pDOP 9999 reserved1 0 6418 15142
  headVeh 3876377 magDec 0 magAcc 0

UBX-NAV-SVINFO:
 iTOW:462087000 ms, numCh:12 globalFlags:4
  chn  11 svid   2 flags 0x04 quality 0x4 cno 25 elev  15 azim 123 prRes      0
   orbitAvail 
  chn   3 svid   6 flags 0x0d quality 0x7 cno 31 elev  21 azim  92 prRes   3345
   svUsed orbitAvail orbitEph 
  chn   5 svid  12 flags 0x0d quality 0x7 cno 32 elev  77 azim 254 prRes  -1156
   svUsed orbitAvail orbitEph 
  chn   4 svid  14 flags 0x04 quality 0x1 cno  0 elev  20 azim 319 prRes      0
   orbitAvail 
  chn   8 svid  15 flags 0x04 quality 0x1 cno  0 elev   0 azim 180 prRes      0
   orbitAvail 
  chn   1 svid  17 flags 0x0c quality 0x4 cno 21 elev  18 azim  41 prRes   6545
   orbitAvail orbitEph 
  chn   6 svid  19 flags 0x0d quality 0x6 cno 25 elev  36 azim  54 prRes    324
   svUsed orbitAvail orbitEph 
  chn   9 svid  22 flags 0x04 quality 0x4 cno 16 elev   4 azim 351 prRes      0
   orbitAvail 
  chn   2 svid  24 flags 0x0d quality 0x7 cno 33 elev  62 azim 146 prRes    846
   svUsed orbitAvail orbitEph 
  chn   7 svid  25 flags 0x0d quality 0x7 cno 31 elev  44 azim 256 prRes  -1290
   svUsed orbitAvail orbitEph 
  chn  10 svid  29 flags 0x04 quality 0x1 cno  0 elev   2 azim 201 prRes      0
   orbitAvail 
  chn   0 svid  32 flags 0x0d quality 0x4 cno 23 elev  35 azim 300 prRes  -1397
   svUsed orbitAvail orbitEph 

UBX-NAV-SAT:
  iTOW 462087000 version 1 numSvs 12 reserved1 0 0
   gnssId 0 svid   2 cno 25 elev  15 azim 123 prRes      0 flags x1214
   gnssId 0 svid   6 cno 31 elev  21 azim  92 prRes    335 flags x191f
   gnssId 0 svid  12 cno 32 elev  77 azim 254 prRes   -116 flags x191f
   gnssId 0 svid  14 cno  0 elev  20 azim 319 prRes      0 flags x1211
   gnssId 0 svid  15 cno  0 elev   0 azim 180 prRes      0 flags x1211
   gnssId 0 svid  17 cno 21 elev  18 azim  41 prRes    655 flags x1914
   gnssId 0 svid  19 cno 25 elev  36 azim  54 prRes     32 flags x191e
   gnssId 0 svid  22 cno 16 elev   4 azim 351 prRes      0 flags x1214
   gnssId 0 svid  24 cno 33 elev  62 azim 146 prRes     85 flags x191f
   gnssId 0 svid  25 cno 31 elev  44 azim 256 prRes   -129 flags x191f
   gnssId 0 svid  29 cno  0 elev   2 azim 201 prRes      0 flags x1211
   gnssId 0 svid  32 cno 23 elev  35 azim 300 prRes   -140 flags x191c

UBX-NAV-POSECEF:
  iTOW 462087000 ecefX 371794815 Y 75094847 Z 511063529 pAcc 2499

UBX-NAV-DOP:
  iTOW 462087000 gDOP 41 pDOP 9999 tDOP 41 vDOP 9999
  hDOP 9999 nDOP 9999 eDOP 9999

UBX-NAV-VELECEF:
  iTOW 462087000 ecef: VX 0 VY 0 VZ 0 vAcc:1

UBX-NAV-TIMEGPS:
  iTOW 462087000 fTOW 177846 week 2105 leapS 18 valid x7 tAcc 40

UBX-NAV-TIMELS:
  iTOW 462087000 version 0 reserved2 0 0 0 srcOfCurrLs 2
  currLs 18 srcOfLsChange 2 lsChange 0 timeToLsEvent 48526731
  dateOfLsGpsWn 2185 dateOfLsGpsDn 7 reserved2 0 0 0
  valid x3

UBX-NAV-SVIN:
  version 0 reserved1[0 0 0] iTOW 462087000 dur 412
  meanX 371794815 meanY 75094847 meanZ 511063529
  meanXHP 29 meanYHP -3 meanZHP 19 reserved2 0 meanAcc 249947
  obs 327 valid 1 active 0

UBX-MON-MSGPP:
 msg1    0 0 0 0 0 0 0 0
 msg2    0 0 0 0 0 0 0 0
 msg3    0 0 0 0 0 0 0 0
 msg4    0 0 0 0 0 0 0 0
 msg5    0 0 0 0 0 0 0 0
 msg6    0 0 0 0 0 0 0 0
 skipped 0 0 0 0 0 0

UBX-MON-TXBUF:
 pending   0 0 0 0 0 0
 usage     0 0 0 0 0 0
 peakUsage 0 0 0 0 0 0
 tUsage 37 tPeakUsage 37 errors x0 reserved1 0

UBX-MON-IO:
  Port: 0 (DDC)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0
  Port: 1 (UART1)
   rxBytes 52 txBytes 81328 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 257
  Port: 2 (UART2)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0
  Port: 3 (USB)
   rxBytes 993 txBytes 76236 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 256
  Port: 4 (SPI)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0
  Port: 5 (Reserved)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0

UBX-MON-HW:
  pinSel 0x1f400 pinBank 0x0 pinDir 0x14000 pinVal 0x1f7ef noisePerMS 69
  agcCnt 0 aStatus 2 aPower 1 flags 0x1 reserved1 132
  usedMask 0x1ebff
  VP 10 11 12 13 14 15 1 0 2 3 255 16 255 18 68 54 53
  jamInd 13 reserved2 239 124 pinIrq 0x0 pullH 0x1b780 pullL 0x0

UBX-MON-HW2:
   ofsI 12 magI 156 ofsQ 85 magQ 162 cfgSource 102
   reserved0 8 7 0 lowLevCfg 4294967295 reserved1 4294967295 4294967295
   postStatus 0 reserved2 0

UBX-NAV-SOL:
  iTOW 462088000 fTOW 177702 week 2105 gpsFix 5 flags xdd
  ECEF X 371794815 Y 75094847 Z 511063529 pAcc 2499
  VECEF X 0 Y 0 Z 0 sAcc 1
  pDOP 9999 reserved1 2 numSV 6 reserved2 62265618

UBX-NAV-PVT:
  iTOW 462088000 time 2020/5/15  8:21:10 valid x37
  tAcc 40 nano 177703 fixType 5 flags x1 flags2 xea
  numSV 6 lon 114189332 lat 536018075 height 82113
  hMSL 38794 hAcc 20408 vAcc 14431
  velN 0 velE 0 velD 0 gSpeed 0 headMot 0
  sAcc 10 headAcc 17235598 pDOP 9999 reserved1 0 6418 15142
  headVeh 3876377 magDec 0 magAcc 0

UBX-NAV-POSECEF:
  iTOW 462088000 ecefX 371794815 Y 75094847 Z 511063529 pAcc 2499

UBX-NAV-DOP:
  iTOW 462088000 gDOP 41 pDOP 9999 tDOP 41 vDOP 9999
  hDOP 9999 nDOP 9999 eDOP 9999

UBX-NAV-VELECEF:
  iTOW 462088000 ecef: VX 0 VY 0 VZ 0 vAcc:1

UBX-NAV-TIMEGPS:
  iTOW 462088000 fTOW 177702 week 2105 leapS 18 valid x7 tAcc 40

florian@pc-florian ~ $ gpspipe -w
{"class":"VERSION","release":"3.20.1~dev","rev":"release-3.20-725-g14fd31ab1","proto_major":3,"proto_minor":14}
{"class":"DEVICES","devices":[{"class":"DEVICE","path":"/dev/ttyACM0","driver":"u-blox","subtype":"SW EXT CORE 3.01 (db0c89),HW 00080000","subtype1":"ROM BASE 3.01 (107888),FWVER=HPG 1.40REF,PROTVER=20.30,MOD=NEO-M8P-2,FIS=0xEF4015 (100111),GPS;GLO;BDS,QZSS","activated":"2020-05-15T08:19:29.184Z","flags":5,"native":1,"bps":9600,"parity":"N","stopbits":1,"cycle":1.00,"mincycle":0.25}]}
{"class":"WATCH","enable":true,"json":true,"nmea":false,"raw":0,"scaled":false,"timing":false,"split24":false,"pps":false}
{"class":"TPV","device":"/dev/ttyACM0","status":7,"mode":3,"time":"2020-05-15T08:21:16.000Z","leapseconds":18,"ept":0.005,"lat":53.601807500,"lon":11.418933200,"altHAE":82.113,"altMSL":38.794,"alt":38.794,"epx":10.779,"epy":22.919,"epv":14.431,"track":0.0000,"magtrack":3.5197,"magvar":3.5,"speed":0.000,"climb":0.000,"eps":0.01,"epc":28.86,"ecefx":3717948.15,"ecefy":750948.47,"ecefz":5110635.29,"ecefvx":0.00,"ecefvy":0.00,"ecefvz":0.00,"ecefpAcc":24.99,"ecefvAcc":0.01,"velN":0.000,"velE":0.000,"velD":-0.000,"geoidSep":40.983,"eph":20.408,"sep":57.426}
{"class":"TPV","device":"/dev/ttyACM0","status":7,"mode":3,"time":"2020-05-15T08:21:16.000Z","leapseconds":18,"ept":0.005,"lat":53.601807500,"lon":11.418933200,"altHAE":82.113,"altMSL":38.794,"alt":38.794,"epx":10.779,"epy":22.919,"epv":14.431,"track":0.0000,"magtrack":3.5197,"magvar":3.5,"speed":0.000,"climb":0.000,"eps":0.01,"epc":28.86,"ecefx":3717948.15,"ecefy":750948.47,"ecefz":5110635.29,"ecefvx":0.00,"ecefvy":0.00,"ecefvz":0.00,"ecefpAcc":24.99,"ecefvAcc":0.01,"velN":0.000,"velE":0.000,"velD":-0.000,"geoidSep":40.983,"eph":20.408,"sep":57.426}
{"class":"TPV","device":"/dev/ttyACM0","status":7,"mode":3,"time":"2020-05-15T08:21:17.000Z","leapseconds":18,"ept":0.005,"lat":53.601807500,"lon":11.418933200,"altHAE":82.113,"altMSL":38.794,"alt":38.794,"epx":10.779,"epy":22.919,"epv":14.431,"track":0.0000,"magtrack":3.5197,"magvar":3.5,"speed":0.000,"climb":0.000,"eps":0.01,"epc":28.86,"ecefx":3717948.15,"ecefy":750948.47,"ecefz":5110635.29,"ecefvx":0.00,"ecefvy":0.00,"ecefvz":0.00,"ecefpAcc":24.99,"ecefvAcc":0.01,"velN":0.000,"velE":0.000,"velD":-0.000,"geoidSep":40.983,"eph":20.408,"sep":57.426}
{"class":"TPV","device":"/dev/ttyACM0","status":7,"mode":3,"time":"2020-05-15T08:21:17.000Z","leapseconds":18,"ept":0.005,"lat":53.601807500,"lon":11.418933200,"altHAE":82.113,"altMSL":38.794,"alt":38.794,"epx":10.779,"epy":22.919,"epv":14.431,"track":0.0000,"magtrack":3.5197,"magvar":3.5,"speed":0.000,"climb":0.000,"eps":0.01,"epc":28.86,"ecefx":3717948.15,"ecefy":750948.47,"ecefz":5110635.29,"ecefvx":0.00,"ecefvy":0.00,"ecefvz":0.00,"ecefpAcc":24.99,"ecefvAcc":0.01,"velN":0.000,"velE":0.000,"velD":-0.000,"geoidSep":40.983,"eph":20.408,"sep":57.426}
{"class":"TPV","device":"/dev/ttyACM0","status":7,"mode":3,"time":"2020-05-15T08:21:17.000Z","leapseconds":18,"ept":0.005,"lat":53.601807500,"lon":11.418933200,"altHAE":82.113,"altMSL":38.794,"alt":38.794,"epx":10.779,"epy":22.919,"epv":14.431,"track":0.0000,"magtrack":3.5197,"magvar":3.5,"speed":0.000,"climb":0.000,"eps":45.84,"epc":28.86,"ecefx":3717948.15,"ecefy":750948.47,"ecefz":5110635.29,"ecefvx":0.00,"ecefvy":0.00,"ecefvz":0.00,"ecefpAcc":24.99,"ecefvAcc":0.01,"velN":0.000,"velE":0.000,"velD":-0.000,"geoidSep":40.983,"eph":20.408,"sep":57.426}
^C
florian@pc-florian ~ $ ubxtool -p STATUS -p CONFIG -P 20.30
ubxtool: poll STATUS

sent:
UBX-MON-VER:
  Poll request

sent:
UBX-LOG-INFO:
  Poll request

sent:
UBX-MON-GNSS:
  Poll request

sent:
UBX-MON-HW:
  Poll request

sent:
UBX-MON-HW2:
  Poll request

sent:
UBX-MON-IO:
  Poll request

sent:
UBX-MON-MSGPP:
  Poll request

sent:
UBX-MON-RF:
  Poll request

sent:
Class x0a (MON) ID x0a, len 0x0, raw 

sent:
UBX-MON-TXBUF:
  Poll request

sent:
UBX-NAV-SVIN:
  Poll request

sent:
UBX-TIM-SVIN:
  Poll request

ubxtool: poll CONFIG

sent:
UBX-MON-VER:
  Poll request

sent:
UBX-CFG-ANT:
  Poll request

sent:
UBX-CFG-DAT:
  Poll request

sent:
UBX-CFG-GEOFENCE:
  Poll request

sent:
UBX-CFG-GNSS:
  Poll request

sent:
UBX-CFG-INF:
  Poll request: UBX

sent:
UBX-CFG-INF:
  Poll request: NMEA

sent:
UBX-CFG-LOGFILTER:
  Poll request

sent:
UBX-CFG-NAV5:
  Poll request

sent:
UBX-CFG-NAVX5:
  Poll request

sent:
UBX-CFG-NMEA:
  Poll request

sent:
UBX-CFG-ODO:
  Poll request

sent:
UBX-CFG-PRT:
  Poll request

sent:
UBX-CFG-PM2:
  Poll request

sent:
UBX-CFG-PMS:
  Poll request

sent:
UBX-CFG-RATE:
  Poll request

sent:
UBX-CFG-RXM:
  Poll request

sent:
UBX-CFG-TP5:
  Poll request

sent:
UBX-CFG-USB:
  Poll request

UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-LOG-INFO:
  version 1 reserved1 x0 x0 filestoreCapacity 1493760 reserved2 x9600 x11a300
  currentMaxLogSize 0 currentLogSize 0 entryCount 0
  oldestYear 0 oldestMonth 0 oldestDay 0 
  oldestHour 0 oldestMin 0 oldestSec 0 reserved3 x0
  newestYear 0 newestMonth 0 newestDay 0 
  newestHour 0 newestMin 0 newestSec 0 reserved4 x0
  status x10 reserved5 x0 x0

UBX-MON-GNSS:
   version 0 supported 0x7 defaultGnss 0x3 enabled 0x3
   simultaneous 2 reserved1 0 0 0

UBX-MON-VER:
  swVersion EXT CORE 3.01 (db0c89)
  hwVersion 00080000
  extension ROM BASE 3.01 (107888)
  extension FWVER=HPG 1.40REF
  extension PROTVER=20.30
  extension MOD=NEO-M8P-2
  extension FIS=0xEF4015 (100111)
  extension GPS;GLO;BDS
  extension QZSS

UBX-CFG-ANT:
 flags x1b pins xb9f0 pinSwitch 16 pinSCD 15 pinOCD 14 reconfig 1

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x13 (ANT)

UBX-CFG-DAT:
  datumNum 0 datumNam 87 71 83 56 52 0
  majA 6378137.0 flat 298.3 dX 0.0 dY 0.0 dZ 0.0
  rotX 0.0 rotY 0.0 rotZ 0.0 scale 0.0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x06 (DAT)

UBX-CFG-GEOFENCE:
 version 0 numFences 0 confLvl 0 reserved1 0
 pioEnabled 0 pinPolarity 0 pin 0 reserved2 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x69 (GEOFENCE)

UBX-CFG-GNSS:
 msgVer 0  numTrkChHw 28 numTrkChUse 28 numConfigBlocks 4
  gnssId 0 TrkCh  8 maxTrCh 16 reserved 0 Flags x01010001
   GPS L1C/A enabled
  gnssId 3 TrkCh  8 maxTrCh 16 reserved 0 Flags x01010000
   BeiDou B1I 
  gnssId 5 TrkCh  0 maxTrCh  3 reserved 0 Flags x01010001
   QZSS L1C/A enabled
  gnssId 6 TrkCh  8 maxTrCh 14 reserved 0 Flags x01010001
   GLONASS L1 enabled

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x3e (GNSS)

UBX-CFG-INF:
 protocolId 0 reserved1 0 0 0
 infMsgMask 0 0 0 0 0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x02 (INF)

UBX-CFG-INF:
 protocolId 1 reserved1 0 0 0
 infMsgMask 7 7 0 7 7 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x02 (INF)

UBX-CFG-LOGFILTER:
 version 1 flags x0 minInterval 0 timeThreshold 0
 speedThreshold 0 positionThreshold 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x47 (LOGFILTER)

UBX-CFG-NAV5:
 mask 0xffff dynModel 2 fixmode 3 fixedAlt 0 FixedAltVar 10000
 minElev 10 drLimit 0 pDop 250 tDop 250 pAcc 100 tAcc 350
 staticHoldThresh 0 dgpsTimeOut 60 cnoThreshNumSVs 0
 cnoThresh 0 res 0 staticHoldMaxDist 0 utcStandard 0
 reserved x0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x24 (NAV5)

UBX-CFG-NAVX5:
 version 2 mask1 xffff mask2 x33f reserved1 259 minSVs 3 maxSVs 20 minCNO 6
 reserved2 0 iniFix3D 0 reserved3 1  ackAiding 0 wknRollover 1867
 sigAttenCompMode 0 reserved456 1 0 257 usePPP 1 aopCfg 0 reserved7 25600
 aopOrbMaxErr 0 reserved89 1179904 0 0 useAdr 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x23 (NAVX5)

UBX-CFG-NMEA:
 filter x0 nmeaVersion x40 numSv 0 flags x2 gnssToFilter x0
 svNumbering 0 mainTalkerId 0 gsvTalkerId 0 version 1
 bdsTalkerId 0 0 reserved1 0 0 0 0 0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x17 (NMEA)

UBX-CFG-ODO:
 version 0 reserved1 0 0 0 flags x0 odoCfg x0
 reserved2 0 0 25 70 25 102
 cagMaxSpeed 10 cogMaxPosAcc 50 reserved3 0 0
 velLpGain 153 cogLpGain 76 reserved4 0 0

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x1e (ODO)

UBX-CFG-PRT:
 PortID 3 (USB) reserved1 0 txReady 0x0
  reserved2 [2256 9600]
  inProtoMask 0x23 outProtoMask 0x1
  reserved3 0 reserved4 0
    inProtoMask (UBX NMEA RTCM3)
    outProtoMask (UBX)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x00 (PRT)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x3b (PM2)

UBX-ACK-NAK:
  NAK to Class x06 (CFG) ID x86 (PMS)

UBX-CFG-RATE:
 measRate 1000 navRate 1 timeRef 1 (GPS)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x08 (RATE)

UBX-CFG-RXM:
 reserved1 72 lpMode 0 (Continuous Mode)

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x11 (RXM)

UBX-CFG-TP5:
  tpIdx 0 version 1 reserved1 0
  antCableDelay 50 rfGroupDelay 0 freqPeriod 1000000 freqPeriodLock 1000000
  pulseLenRatio 0 pulseLenRatioLock 100000 userConfigDelay 0
  flags x77

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x31 (TP5)

UBX-CFG-USB:
  vendorID 0x1546 productID 0x1a8 reserved1 0 reserved2 0
  powerConsumption 100 mA flags 0x2
  vendorString u-blox AG - www.u-blox.com
  productString u-blox GNSS receiver
  serialNumber 

UBX-ACK-ACK:
  ACK to Class x06 (CFG) ID x1b (USB)

UBX-MON-MSGPP:
 msg1    0 0 0 0 0 0 0 0
 msg2    0 0 0 0 0 0 0 0
 msg3    0 0 0 0 0 0 0 0
 msg4    0 0 0 0 0 0 0 0
 msg5    0 0 0 0 0 0 0 0
 msg6    0 0 0 0 0 0 0 0
 skipped 0 0 0 0 0 0

UBX-MON-TXBUF:
 pending   0 0 0 0 0 0
 usage     0 0 0 0 0 0
 peakUsage 0 0 0 0 0 0
 tUsage 21 tPeakUsage 37 errors x0 reserved1 0

UBX-MON-IO:
  Port: 0 (DDC)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0
  Port: 1 (UART1)
   rxBytes 52 txBytes 81328 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 257
  Port: 2 (UART2)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0
  Port: 3 (USB)
   rxBytes 1243 txBytes 80948 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 257
  Port: 4 (SPI)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0
  Port: 5 (Reserved)
   rxBytes 0 txBytes 0 parityErrs 0 framingErrs 0
   overrunErrs 0 breakCond 0 reserved 0

UBX-MON-HW:
  pinSel 0x1f400 pinBank 0x0 pinDir 0x14000 pinVal 0x1f7ef noisePerMS 69
  agcCnt 0 aStatus 2 aPower 1 flags 0x1 reserved1 132
  usedMask 0x1ebff
  VP 10 11 12 13 14 15 1 0 2 3 255 16 255 18 68 54 53
  jamInd 10 reserved2 159 124 pinIrq 0x0 pullH 0x1b780 pullL 0x0

UBX-MON-HW2:
   ofsI 16 magI 141 ofsQ 93 magQ 157 cfgSource 102
   reserved0 8 7 0 lowLevCfg 4294967295 reserved1 4294967295 4294967295
   postStatus 0 reserved2 0

UBX-NAV-SOL:
  iTOW 462098000 fTOW 176257 week 2105 gpsFix 5 flags xdd
  ECEF X 371794815 Y 75094847 Z 511063529 pAcc 2499
  VECEF X 0 Y 0 Z 0 sAcc 1
  pDOP 9999 reserved1 2 numSV 6 reserved2 62265618

UBX-NAV-PVT:
  iTOW 462098000 time 2020/5/15  8:21:20 valid x37
  tAcc 40 nano 176258 fixType 5 flags x1 flags2 xea
  numSV 6 lon 114189332 lat 536018075 height 82113
  hMSL 38794 hAcc 20408 vAcc 14431
  velN 0 velE 0 velD 0 gSpeed 0 headMot 0
  sAcc 10 headAcc 17235598 pDOP 9999 reserved1 0 6418 15142
  headVeh 3876377 magDec 0 magAcc 0

UBX-NAV-POSECEF:
  iTOW 462098000 ecefX 371794815 Y 75094847 Z 511063529 pAcc 2499

UBX-NAV-DOP:
  iTOW 462098000 gDOP 41 pDOP 9999 tDOP 41 vDOP 9999
  hDOP 9999 nDOP 9999 eDOP 9999

UBX-NAV-VELECEF:
  iTOW 462098000 ecef: VX 0 VY 0 VZ 0 vAcc:1

UBX-NAV-TIMEGPS:
  iTOW 462098000 fTOW 176257 week 2105 leapS 18 valid x7 tAcc 40

UBX-NAV-SVIN:
  version 0 reserved1[0 0 0] iTOW 462098000 dur 412
  meanX 371794815 meanY 75094847 meanZ 511063529
  meanXHP 29 meanYHP -3 meanZHP 19 reserved2 0 meanAcc 249947
  obs 327 valid 1 active 0

UBX-NAV-SOL:
  iTOW 462099000 fTOW 176113 week 2105 gpsFix 5 flags xdd
  ECEF X 371794815 Y 75094847 Z 511063529 pAcc 2499
  VECEF X 0 Y 0 Z 0 sAcc 1
  pDOP 9999 reserved1 2 numSV 6 reserved2 62265618

UBX-NAV-PVT:
  iTOW 462099000 time 2020/5/15  8:21:21 valid x37
  tAcc 40 nano 176114 fixType 5 flags x1 flags2 xea
  numSV 6 lon 114189332 lat 536018075 height 82113
  hMSL 38794 hAcc 20408 vAcc 14431
  velN 0 velE 0 velD 0 gSpeed 0 headMot 0
  sAcc 10 headAcc 17235598 pDOP 9999 reserved1 0 6418 15142
  headVeh 3876377 magDec 0 magAcc 0

UBX-NAV-POSECEF:
  iTOW 462099000 ecefX 371794815 Y 75094847 Z 511063529 pAcc 2499

UBX-NAV-DOP:
  iTOW 462099000 gDOP 41 pDOP 9999 tDOP 41 vDOP 9999
  hDOP 9999 nDOP 9999 eDOP 9999

UBX-NAV-VELECEF:
  iTOW 462099000 ecef: VX 0 VY 0 VZ 0 vAcc:1

UBX-NAV-TIMEGPS:
  iTOW 462099000 fTOW 176113 week 2105 leapS 18 valid x7 tAcc 40