home.md

@@ -7,6 +7,15 @@
 * [Configure ADIS (16490)](Configure-ADIS-16490)
 * [RTK setup for uBlox receivers](ublox-receiver-configuration)
 
+# SenTiBoard Envelope
+The SenTiBoard output format:
+
+![envelope.svg](/uploads/3b4fbc517b30736a511b548b6921ca7b/envelope.svg)
+
+The onboard timestamp is only available if the logging software is used. If the timestamp is present, the sync word is changed from '\^B' to '\^C'.
+
+The 0 at the end are represents 0-3 bytes that should be skipped. These are added to comply with the microprocessors DMA module.
+
 # Connector info
 
 ### Cable color recommendations