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+========================================================================
+UHD - Internal GPSDO Application Notes
+========================================================================
+
+.. contents:: Table of Contents
+
+This application note describes the use of integrated GPS-disciplined
+oscillators with Ettus Research USRP devices. It pertains specifically
+to the Jackson Labs Firefly-1A device unless noted otherwise.
+
+------------------------------------------------------------------------
+Specifications
+------------------------------------------------------------------------
+* **Receiver type**: 50 channel with WAAS, EGNOS, MSAS
+* **10MHz ADEV**: 1e-11 over >24h
+* **1PPS RMS jitter**: <50ns 1-sigma
+* **Holdover**: <11us over 3h
+* **Phase noise**:
+
+  * **1Hz:** -80dBc/Hz
+  * **10Hz:** -110dBc/Hz
+  * **100Hz:** -135dBc/Hz
+  * **1kHz:** -145dBc/Hz
+  * **10kHz:** <-145dBc/Hz
+
+**Antenna Types:**
+
+The GPSDO is capable of supplying a 3V for active GPS antennas or supporting passive antennas.
+
+------------------------------------------------------------------------
+Installation Instructions
+------------------------------------------------------------------------
+Installation instructions can be found here:
+`http://www.ettus.com/content/files/gpsdo-kit_2.pdf <http://www.ettus.com/content/files/gpsdo-kit_2.pdf>`_
+
+********************************************
+Post-installation Task (N-Series only)
+********************************************
+
+**Note:** The following instructions are only necessary for UHD 3.4.* and below.
+
+This is necessary if you require absolute GPS time in your application
+or need to communicate with the GPSDO to obtain location, satellite info, etc.
+If you only require 10MHz and PPS signals for reference or MIMO use
+(see the `Synchronization Application Notes <./sync.html>`_),
+it is not necessary to perform this step.
+
+To configure the USRP to communicate with the GPSDO, use the
+**usrp_burn_mb_eeprom** utility:
+
+::
+
+    cd <install-path>/share/uhd/utils
+    ./usrp_burn_mb_eeprom --args=<optional device args> --key=gpsdo --val=internal
+
+    -- restore original setting --
+    ./usrp_burn_mb_eeprom --args=<optional device args> --key=gpsdo --val=none
+
+------------------------------------------------------------------------
+Using the GPSDO in Your Application
+------------------------------------------------------------------------
+By default, if a GPSDO is detected at startup, the USRP will be configured
+to use it as a frequency and time reference. The internal VITA timestamp
+will be initialized to the GPS time, and the internal oscillator will be
+phase-locked to the 10MHz GPSDO reference. If the GPSDO is not locked to
+satellites, the VITA time will not be initialized.
+
+GPS data is obtained through the **mboard_sensors** interface. To retrieve
+the current GPS time, use the **gps_time** sensor:
+
+::
+
+    usrp->get_mboard_sensor("gps_time");
+
+The returned value will be the current epoch time, in seconds since
+January 1, 1970. This value is readily converted into human-readable
+format using the **time.h** library in C, **boost::posix_time** in C++, etc.
+
+Other information can be fetched as well. You can query the lock status
+with the **gps_locked** sensor, as well as obtain raw NMEA sentences using
+the **gps_gprmc**, and **gps_gpgga** sensors. Location
+information can be parsed out of the **gps_gpgga** sensor by using **gpsd** or
+another NMEA parser.