GAD file column definitions

Here’s a summary of the columns that appear in a GAD file.

CSV File Format

Col	Type	Value	Description
A	ver	0	.gad file version. Currently must be 0.
B	type	#	The type of GAD for this packet e.g. position, velocity, heading, speed
C	stream_id	#	Stream ID of the packet. 129 - 254
D	val_valid	0/1	Validity of the val struct
E	mode	0	Currently unused. Set to 0.
F	x_type	#	Format of measurement. e.g. For position: WGS84. Specified in Enum.
G	x[0]	#	Measurement value
H	x[1]	#	Measurement value
I	x[2]	#	Measurement value
J	v_type	#	Covariance matrix type (single value, diagonal matrix, half-matrix)
K	v[0]	#	Covariance value
L	v[1]	#	Covariance value
M	v[2]	#	Covariance value
N	v[3]	#	Covariance value
O	v[5]	#	Covariance value
P	time_valid	0/1	Validity of the time struct
Q	mode	0	Currently unused. Set to 0.
R	x_type	#	Type of time. e.g. Void, Latency, PPS relative, GPS. Specified in Enum.
X	x[0]	#	Measurement value
T	x[1]	#	Measurement value
U	x[2]	#	Measurement value
V	v_type	0	Variance for time not currently supported (GEN_VAR_VOID)
W	v[0]	#	Covariance value
X	v[1]	#	Covariance value
Y	v[2]	#	Covariance value
Z	v[3]	#	Covariance value
AA	v[4]	#	Covariance value
AB	v[5]	#	Covariance value
AC	acq_valid	0/1	Validity of the acquisition timestamp.
AD	acq	#	Acquisition timestamp (ns). Not to be added by users for PP.
AE	loc_valid	0/1	Validity of the loc struct
AF	mode	#	Lever arm: in packet, associated to KF, in config. Specified in Enum.
AG	x_type	0	Not currently used.
AH	x[0]	#	Measurement value
AI	x[1]	#	Measurement value
AJ	x[2]	#	Measurement value
AK	v_type	#	Covariance matrix type (single value, diagonal matrix, half-matrix)
AL	v[0]	#	Covariance value
AM	v[1]	#	Covariance value
AM	v[2]	#	Covariance value
AO	v[3]	#	Covariance value
AP	v[4]	#	Covariance value
AQ	v[5]	#	Covariance value
AR	res1_valid	0	res1 not currently supported.
AS	mode
AT	x_type
AU	x[0]
AV	x[1]
AW	x[2]
AX	v_type
AY	v[0]
AZ	v[1]
BA	v[2]
BB	v[3]
BC	v[4]
BD	v[5]
BE	res2_valid	0	res2 not currently supported.
BF	mode
BG	x_type
BH	x[0]
BI	x[1]
BJ	x[2]
BK	v_type
BL	v[0]
BM	v[1]
BN	v[2]
BO	v[3]
BP	v[4]
BQ	v[5]