Reach XYZ Serial Output?

I am trying to read XYZ format from the UART ports of the Rover Reach. I believe everything is set correctly, and I’m receiving data but I cannot find any documentation on how to interpret it, anybody have any ideas? I can get a fixed solution and everything, just working on using that data now…

Got this figured out with trashgoblin, posting for record
For XYZ Format:
snapshot of .pos file on reach rover

One line of serial output of Teensy 3.2:
1895 166907.800 -1999637.5598 -3827312.9493 4679336.0725 2 5 0.7775 1.7480 1.8052 -1.1606 -1.7613 1.1826 0.08 1.1

Teensyduino code (commented out stuff is for Arduino):
//#include <SoftwareSerial.h>
#define SoftSer Serial1
//SoftwareSerial SoftSer(11, 10); // RX, TX
int cnt = 0 ;
void setup() {
// put your setup code here, to run once:
SoftSer.begin(38400); //baud rate set on rover

void loop() {
  // put your main code here, to run repeatedly:
  while (SoftSer.available()) {
  cnt = 0 ;
  char inchar =;
  if (cnt == 10000)

oops, the code is wrong. We’ll get the correct code up later, output format was still right though.

Does anyone have the format identifiers for the different possible output modes from the reach?

The NMEA string is well documented and easy to identify. I can’t find documentation for LLH, XYZ, ENU or the proprietary ERB.

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