User visible changes in the firmware version 3.6.7 since version 3.6.6.

                             Highlights.

1. UHF, FH915: Support UHFSSRX modem.

2. UHF: Support LMR400 Rev.5.2 (ID: 741) modem.

3. Galileo navigation data: fixed bug in verification of GGTO data.

4. BINEX: observations and ephemeris (record 0x01-07) for IRNSS system
   has been added.

5. Elevation/azimuth bug has been fixed: the regular gaps for the satellites
   which doesn't have ephemeris.

6. RTCM3 MSM: fix the case when BeiDou observations contain GPS epoch time.

7. SBAS: the support of RTCA DO-229D has been added for TRE-3N receiver.

8. RTCM3 decimated output: bug in synchronization of different systems
   has been fixed.

9. RTCM3 decimated output: bug in command "set,/par/rtcm3/rover/out/period"
   has been fixed.

10. GREIS [DL] message: added new field:"update rate of
    received corrections."

11. UHF, FH915: new parameters to control saving of modem
    configuration file.

12. RTCM3.1 coordinates transformation on rover: fixed bug processing
    partial data set.

13. WAAS decoder: fixed bug in ionospheric corrections.

14. GLONASS: fixed bug in almanac decoding.

15. /par/rcv/ver/board: fix printing of board revisions greater
    than 9. ':' was printed for revision 10, now fixed.

16. Added support of TR_G2 rev 10, TR_G3H rev 10, GNSS100 rev 6.

17. BINEX: zero "real4" field in 01_03 contains now aGf1 value,
    format of field "RxClkOff" in 7F_05 has been fixed.


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


                             1. Messages.

1.1 Text message AT for AT4 system

   1.  %c         MsgId "ATT"
   2.  %c         UTC time indicator: “V” means that UTC time is valid “N”
                  means that UTC time is not valid
   3.  %6.2f      UTC time of position (the first two digits designate hours, the
                  next two digits designate minutes and the rest of the digits designate seconds)
   4.  PI         pitch angle header
   5.  %.3f       pitch angle in degrees, -90...90
   6.  %.3f       RMS of pitch angle in degrees
   7.  RO         roll angle header. -90...90
   8.  %.3f       roll angle in degrees
   9.  %.3f       RMS of roll angle in degrees
   10. HE         heading angle header
   11. %.3f       heading angle in degrees, 0...360
   12. %.3f       RMS of headaing angle in degrees
   13. %c         validity flag, 1- valid, 0 - invalid
   14. %2X        checksum

1.2 GREIS [DL] message.

Added new field: "update rate of received corrections".


                             2. Parameters.

2.1 New parameters for UHF and FH915 modems

Name:        /par/modem/X/uhf/save/int (X=[a...d])
Access:      rw
Type:        boolean
Value:       on, off
Default:     on (off - only for TRIUMPH-LS)
Description: Save Configuration file in internal UHF modem.

Name:        /par/modem/X/uhf/save/ext (X=[a...d])
Access:      rw
Type:        boolean
Value:       on, off
Default:     on
Description: Save Configuration file in external UHF modem.

Name:        /par/modem/X/fh/save/int (X=[a...d])
Access:      rw
Type:        boolean
Value:       on, off
Default:     on (off - only for TRIUMPH-LS)
Description: Save Configuration file in internal FH915 modem.

Name:        /par/modem/X/fh/save/ext (X=[a...d])
Access:      rw
Type:        boolean
Value:       on, off
Default:     on
Description: Save Configuration file in external FH915 modem.

2.2 New parameter for modem AUTO mode

Name:        /par/modem/X/auto/prefer/uhf (X=[a...d])
Access:      rw
Type:        boolean
Values:      on,off
Default:     on
Description: Prefer UHF receiver when UHFSSRX board is
             detected.

                             3. Options.

No changes.

                             4. Commands.

No changes.


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