User visible changes in the firmware version 3.1.2 since version 3.1.1.

                             Highlights.

1. Bug in decoding of RTCM 2.3 message type 23 (wrong decoded data
   on rover when they are empty on base) has been fixed.

2. Fixed bug in GLONASS P-code acquisition. In some rare cases
   it was acquired with noticeable delay.

3. Improved support for interoperability between different revisions
   of TRIUMPH-1 RF and digital boards.

4. Improved tracking of 4-antenna receivers.

5. Bug in printing of parameters "/par/pos/sp/iono" and "/par/pos/sp/tropo"
   has been fixed.

6. Support for TRE_G3TH rev.5 implemented.

6. Support for QUA_G3D rev.3 implemented.

7. Support for TRE_G3TAJ rev.3 implemented.

8. Fixed bug in computation of the age and in the setting of the source
   of code differential corrections.

9. Fixed bug in RTCM3 message 1033 coding.

10. Fixed bug in CMR message 1 decoding.

11. BINEX: put IGS standard receiver name into BINEX 00_00 message.

12. Fixed bug in computations of position statistics (reflected in [PS] message).

13. Fixed bug in position computation in UTM projection for Southern hemisphere.

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


                             1. Messages.

No changes.

                            2. Parameters.

No changes.

                             4. Options.

No changes.

                             5. Commands.

No changes.

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