diff --git a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_rtkrcv b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_rtkrcv
index b502545..da746b0 100644
--- a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_rtkrcv
+++ b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_rtkrcv
@@ -1,6 +1,35 @@
 start()
 {
-    (cd /opt/lsts/rtklib/ && exec rtkrcv -s -o /etc/rtklib/conf/rtkrcv.conf -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
+    localBackupPath="/opt/lsts/rtklib/rtklib_cmdfile.cmd"
+    cfgPath="/etc/rtklib/conf/rtkrcv.conf"
+    cfgPathUse="/opt/lsts/rtklib/conf_use.conf"
+    # First, try to get the configuration
+    cmdFile=`wget -q -O -  10.0.60.51:8080/rtklib_cmdfile.cmd`
+    res=$?
+
+    if [ $res -ne 0 ]; then
+        #echo "Could not find file. Trying to read backup."
+        
+        if [ -f $localBackupPath ]; then
+            echo "Error connecting to server. Reading from backup path."
+            cmdFile=`cat ${localBackupPath}`
+        else
+            echo "Error connecting to server. No local backup file. Using default. "
+            cmdFile="GPS_5Hz.cmd"
+        fi  
+    fi
+
+    echo "Using cmd file: ${cmdFile}"
+    #echo "Storing in last used file. "
+    echo ${cmdFile} > ${localBackupPath}
+
+    cfgFileContent=`cat ${cfgPath}`
+
+    cp ${cfgPath} ${cfgPathUse}
+
+    echo "file-cmdfile1 =/etc/rtklib/cmd/${cmdFile}" >> ${cfgPathUse}   
+
+    (cd /opt/lsts/rtklib/ && exec rtkrcv -s -o ${cfgPathUse} -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
 }
 
 stop()
diff --git a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_single b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_single
new file mode 100644
index 0000000..0dc11c7
--- /dev/null
+++ b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_single
@@ -0,0 +1,27 @@
+start()
+{
+    (cd /opt/lsts/rtklib/ && exec rtkrcv -s -o /etc/rtklib/conf/rtkrcv_single.conf -d /tmp/ttyC0 < /dev/null > /opt/lsts/rtklib/startlog.log 2>&1 &)
+}
+
+stop()
+{
+        while [ 1 ]; do
+        echo "* Stopping process..."        
+        killall rtkrcv > /dev/null 2>&1
+
+       
+        for r in 0 1 2 3 4 5 6 7 8 9; do
+            if [ -n "$(pidof rtkrcv)" ]; then
+                echo "* Waiting for process to exit ($r)..."
+                sleep 1
+            else
+                echo "* Process not running."
+                return 1
+            fi
+        done
+
+        echo "* Forcing exit..."
+        killall -9 rtkrcv > /dev/null 2>&1
+        sleep 1
+    done
+}
diff --git a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_str2str b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_str2str
index f0cd5ec..43e1b79 100644
--- a/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_str2str
+++ b/systems/ntnu-b2xx/fs/etc/rc.d/rtklib_str2str
@@ -1,6 +1,20 @@
 start()
 {
-    str2str -in serial://uart/2:9600:8:n:1:off -c /etc/rtklib/data/ubx_raw_10hz.cmd -out tcpsvr://:50022 < /dev/null > /dev/null 2>&1 &
+   cmdFilePath="/opt/lsts/dune/www/rtklib_cmdfile.cmd"
+    
+    # Exists?
+    if [ ! -f ${cmdFilePath} ]; then
+        echo "No commandfile found. Creating default."        
+        echo "GPS_5Hz.cmd" >> ${cmdFilePath}
+    fi            
+            
+    cmdFile=$(<${cmdFilePath})
+    cmdFile=`cat ${cmdFilePath}`
+    echo "Starting str2str server with command file: ${cmdFile}"
+    
+    str2str -in serial://uart/2:115200:8:n:1:off -c /etc/rtklib/cmd/${cmdFile} -out tcpsvr://:50022 < /dev/null > /dev/null 2>&1 &    
+
+
 }
 
 stop()
diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd
new file mode 100644
index 0000000..503649f
--- /dev/null
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_10Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 100 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels off 
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd
new file mode 100644
index 0000000..361175e
--- /dev/null
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_14Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 70 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels off 
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd
new file mode 100644
index 0000000..00ff7aa
--- /dev/null
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_5Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 200 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels off 
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 0 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd
new file mode 100644
index 0000000..e74c81c
--- /dev/null
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_5Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 200 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 1 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd
new file mode 100644
index 0000000..f7af756
--- /dev/null
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/cmd/GPS_GLONASS_8Hz.cmd
@@ -0,0 +1,59 @@
+# Based on files from the REACH project (https://github.com/emlid/ReachView/tree/master/rtklib_configs)
+# navigation data update rate 1Hz in ms
+!UBX CFG-RATE 125 1 1
+
+# turn on UBX RXM-RAWX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 21 0 1 0 0 0 0
+# turn on UBX RXM-SFRBX messages on first(UART) interface with the same freq
+!UBX CFG-MSG 2 19 0 1 0 0 0 0
+# turn off UBX TIM TM2 messages on first(UART) interface with the same freq
+!UBX CFG-MSG 13 3 0 0 0 0 0 0
+
+# GNSS system settings
+# set GPS 8-16 channels
+!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
+
+# set SBAS 1-3 channels off
+!UBX CFG-GNSS 0 32 32 1 1 1 3 0 0 0 1 1
+
+# set Galileo 0 channels off
+!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
+
+# set BeiDou 8-16 channels off
+!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
+
+# set IMES 0-8 channels off
+!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
+
+# set QZSS 0-3 channels off
+!UBX CFG-GNSS 0 32 32 1 5 0 3 0 0 0 1 1
+
+# set GLONASS 8-14 channels
+!UBX CFG-GNSS 0 32 32 1 6 8 14 0 1 0 1 1
+
+# change NAV5 stationary mode to airborne <4g
+!UBX CFG-NAV5 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
+
+# turn off extra messages default messages
+# NMEA GGA
+!UBX CFG-MSG 240 0 0 0 0 0 0 0
+# NMEA GLL
+!UBX CFG-MSG 240 1 0 0 0 0 0 0
+# NMEA GSA
+!UBX CFG-MSG 240 2 0 0 0 0 0 0
+# NMEA GSV
+!UBX CFG-MSG 240 3 0 0 0 0 0 0
+# NMEA RMC
+!UBX CFG-MSG 240 4 0 0 0 0 0 0
+# NMEA VTG
+!UBX CFG-MSG 240 5 0 0 0 0 0 0
+# NMEA ZDA
+!UBX CFG-MSG 240 8 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 3 0 0 0 0 0 0
+!UBX CFG-MSG 1 6 0 0 0 0 0 0
+!UBX CFG-MSG 1 18 0 0 0 0 0 0
+!UBX CFG-MSG 1 34 0 0 0 0 0 0
+!UBX CFG-MSG 1 48 0 0 0 0 0 0
+@
+!UBX CFG-RATE 1000 1 1
diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv.conf b/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv.conf
index 33d046b..53f1192 100644
--- a/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv.conf
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv.conf
@@ -20,7 +20,7 @@ pos1-posopt3       =off        # (0:off,1:on)
 pos1-posopt4       =off        # (0:off,1:on)
 pos1-posopt5       =off        # (0:off,1:on)
 pos1-exclsats      =           # (prn ...)
-pos1-navsys        =1          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos1-navsys        =7          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
 pos2-armode        =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
 pos2-gloarmode     =off        # (0:off,1:on,2:autocal)
 pos2-bdsarmode     =off        # (0:off,1:on)
@@ -42,7 +42,7 @@ out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
 out-outhead        =off        # (0:off,1:on)
 out-outopt         =off        # (0:off,1:on)
 out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
-out-timeform       =hms        # (0:tow,1:hms)
+out-timeform       =tow        # (0:tow,1:hms)
 out-timendec       =3
 out-degform        =deg        # (0:deg,1:dms)
 out-fieldsep       =
diff --git a/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv_single.conf b/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv_single.conf
new file mode 100644
index 0000000..4e77537
--- /dev/null
+++ b/systems/ntnu-b2xx/fs/etc/rtklib/conf/rtkrcv_single.conf
@@ -0,0 +1,139 @@
+# RTKNAVI options (2015/10/30 13:05:07, v.2.4.2)
+
+pos1-posmode       =single     # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
+pos1-frequency     =l1         # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6,5:l1+l2+l5+l6+l7)
+pos1-soltype       =forward    # (0:forward,1:backward,2:combined)
+pos1-elmask        =10         # (deg)
+pos1-snrmask_r     =off        # (0:off,1:on)
+pos1-snrmask_b     =off        # (0:off,1:on)
+pos1-snrmask_L1    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L2    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L5    =0,0,0,0,0,0,0,0,0
+pos1-dynamics      =on        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on,2:otl)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:vtec_sf,9:vtec_ef,10:gtec)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
+pos1-sateph        =brdc       # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-posopt1       =off        # (0:off,1:on)
+pos1-posopt2       =off        # (0:off,1:on)
+pos1-posopt3       =off        # (0:off,1:on)
+pos1-posopt4       =off        # (0:off,1:on)
+pos1-posopt5       =off        # (0:off,1:on)
+pos1-exclsats      =           # (prn ...)
+pos1-navsys        =7          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos2-armode        =fix-and-hold # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
+pos2-gloarmode     =off        # (0:off,1:on,2:autocal)
+pos2-bdsarmode     =off        # (0:off,1:on)
+pos2-arthres       =3
+pos2-arlockcnt     =0
+pos2-arelmask      =0          # (deg)
+pos2-arminfix      =10
+pos2-elmaskhold    =0          # (deg)
+pos2-aroutcnt      =5
+pos2-maxage        =30         # (s)
+pos2-syncsol       =on        # (0:off,1:on)
+pos2-slipthres     =0.05       # (m)
+pos2-rejionno      =30         # (m)
+pos2-rejgdop       =30
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =off        # (0:off,1:on)
+out-outopt         =off        # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =tow        # (0:tow,1:hms)
+out-timendec       =3
+out-degform        =deg        # (0:deg,1:dms)
+out-fieldsep       =
+out-height         =ellipsoidal # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+out-solstatic      =all        # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =state        # (0:off,1:state,2:residual)
+stats-eratio1      =100
+stats-eratio2      =100
+stats-errphase     =0.003      # (m)
+stats-errphaseel   =0.003      # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =1          # (Hz)
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =10         # (m/s^2)
+stats-prnaccelv    =10         # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant1-pos1          =90         # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =-6335367.6285 # (m|m)
+ant1-anttype       =
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant2-pos1          =90         # (deg|m)
+ant2-pos2          =0          # (deg|m)
+ant2-pos3          =-6335367.6285 # (m|m)
+ant2-anttype       =
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+misc-timeinterp    =off        # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+misc-rnxopt1       =
+misc-rnxopt2       =
+file-satantfile    =
+file-rcvantfile    =
+file-staposfile    =
+file-geoidfile     =
+file-ionofile      =
+file-dcbfile       =
+file-eopfile       =
+file-blqfile       =
+file-tempdir       =/tmp/
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =
+# 
+
+inpstr1-type       =tcpcli     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr1-path       =:@127.0.0.1:50022/:
+inpstr2-path       =
+inpstr3-path       =
+inpstr1-format     =ubx        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
+inpstr2-format     =ubx        # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
+inpstr3-format     =rtcm2      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3)
+inpstr2-nmeareq    =off        # (0:off,1:latlon,2:single)
+inpstr2-nmealat    =0          # (deg)
+inpstr2-nmealon    =0          # (deg)
+outstr1-type       =serial        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+outstr2-type       =file        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+outstr1-path       =../tmp/ttyV0:115200:8:n:1:off
+outstr2-path       =/opt/lsts/rtklib/log/rtklib_output_single%Y%m%d%h%M.pos
+outstr1-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+outstr2-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+logstr1-type       =file        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr1-path       =/opt/lsts/rtklib/log/rtklib_ubxstream_x8_single_log%Y%m%d%h%M.ubx
+logstr2-path       =
+logstr3-path       =
+misc-svrcycle      =50         # (ms)
+misc-timeout       =30000      # (ms)
+misc-reconnect     =30000      # (ms)
+misc-nmeacycle     =5000       # (ms)
+misc-buffsize      =32768      # (bytes)
+misc-navmsgsel     =all        # (0:all,1:rover,2:base,3:corr)
+misc-proxyaddr     =
+misc-fswapmargin   =30         # (s)
+#misc-startcmd =./rtkstart.sh
+#misc.startcmd =./rtkshut.sh
+#file-cmdfile1 =/etc/rtklib/data/ubx_raw_10hz.cmd
+#file-cmdfile2 =/etc/rtklib/data/ubx_raw_10hz.cmd
diff --git a/systems/ntnu-b2xx/ntnu-hexa-003.cfg b/systems/ntnu-b2xx/ntnu-hexa-003.cfg
index 0c2e73d..630ba0c 100644
--- a/systems/ntnu-b2xx/ntnu-hexa-003.cfg
+++ b/systems/ntnu-b2xx/ntnu-hexa-003.cfg
@@ -5,5 +5,5 @@ cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
 cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
-cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget ethtool'
-cfg_services1='rtc-ds3231 force_10mbit'
+cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
+cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv'
diff --git a/systems/ntnu-b2xx/ntnu-hexa-004.cfg b/systems/ntnu-b2xx/ntnu-hexa-004.cfg
index 2ef6245..28a77a9 100644
--- a/systems/ntnu-b2xx/ntnu-hexa-004.cfg
+++ b/systems/ntnu-b2xx/ntnu-hexa-004.cfg
@@ -5,5 +5,5 @@ cfg_eth_ext_mk='255.255.0.0'
 cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
 cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
-cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux libphidget ethtool'
-cfg_services1='rtc-ds3231 force_10mbit'
+cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
+cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv' 
diff --git a/systems/ntnu-b2xx/ntnu-nest-02.cfg b/systems/ntnu-b2xx/ntnu-nest-02.cfg
index cf7938c..ffbcdda 100644
--- a/systems/ntnu-b2xx/ntnu-nest-02.cfg
+++ b/systems/ntnu-b2xx/ntnu-nest-02.cfg
@@ -6,4 +6,4 @@ cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
 cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib'
-cfg_services1='rtklib_str2str'
+cfg_services1='vsp_pair rtklib_str2str rtklib_single'
diff --git a/systems/ntnu-b2xx/ntnu-x8-002.cfg b/systems/ntnu-b2xx/ntnu-x8-002.cfg
index 924d1e3..1b38eb3 100644
--- a/systems/ntnu-b2xx/ntnu-x8-002.cfg
+++ b/systems/ntnu-b2xx/ntnu-x8-002.cfg
@@ -1,5 +1,4 @@
 # ntnu-x8-00x
-# Adds libav package. 
 cfg_hostname='ntnu-x8-002'
 cfg_eth_ext_ip='10.0.60.105'
 cfg_eth_ext_mk='255.255.0.0'
@@ -7,4 +6,4 @@ cfg_eth_ext_gw='10.0.60.1'
 cfg_ptpd_interface='eth0'
 cfg_target_linux_dtb='arch/arm/boot/dts/am335x-lctr-b2xx-ntnu-uart.dtb'
 cfg_packages='u-boot dropbear rsync busybox e2fsprogs ptpd i2c-tools am33xx-cm3/host linux rtklib libphidget ethtool socat'
-cfg_services1='vsp_pair rtc-ds3231 force_10mbit rtklib_rtkrcv'
+cfg_services1='vsp_pair rtc-ds3231 rtklib_rtkrcv'