diff --git a/figures/gnss/phase-delocked-gps-white-rabbit-setup-colored.svg b/figures/gnss/phase-delocked-gps-white-rabbit-setup-colored.svg
new file mode 100644
index 0000000..e09f4df
--- /dev/null
+++ b/figures/gnss/phase-delocked-gps-white-rabbit-setup-colored.svg
@@ -0,0 +1,326 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="90.896095mm"
+   height="75.736992mm"
+   viewBox="0 0 90.896095 75.736993"
+   version="1.1"
+   id="svg8"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)"
+   sodipodi:docname="phase-delocked-gps-white-rabbit-setup-colored.svg">
+  <defs
+     id="defs2">
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker5558"
+       style="overflow:visible"
+       inkscape:isstock="true">
+      <path
+         id="path5556"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lstart"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker5382"
+       style="overflow:visible"
+       inkscape:isstock="true"
+       inkscape:collect="always">
+      <path
+         id="path5380"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(0.8,0,0,0.8,10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:isstock="true"
+       style="overflow:visible"
+       id="marker5250"
+       refX="0"
+       refY="0"
+       orient="auto"
+       inkscape:stockid="Arrow1Lend"
+       inkscape:collect="always">
+      <path
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         id="path5248"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow1Lend"
+       style="overflow:visible"
+       inkscape:isstock="true"
+       inkscape:collect="always">
+      <path
+         id="path4705"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4671"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4577"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4577-6"
+       is_visible="true" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.979899"
+     inkscape:cx="105.07229"
+     inkscape:cy="113.48186"
+     inkscape:document-units="mm"
+     inkscape:current-layer="layer1"
+     showgrid="true"
+     inkscape:snap-text-baseline="true"
+     inkscape:window-width="960"
+     inkscape:window-height="1016"
+     inkscape:window-x="960"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:snap-intersection-paths="false"
+     inkscape:snap-midpoints="true"
+     showguides="false">
+    <inkscape:grid
+       type="xygrid"
+       id="grid4541"
+       originx="-14.744664"
+       originy="-194.30336" />
+  </sodipodi:namedview>
+  <metadata
+     id="metadata5">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-14.744664,-26.95962)">
+    <rect
+       style="opacity:1;fill:#0000ff;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713"
+       width="27.781252"
+       height="26.458336"
+       x="15.875"
+       y="27.124985" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="30.427084"
+       y="37.708317"
+       id="text4550"><tspan
+         sodipodi:role="line"
+         x="30.427084"
+         y="37.708317"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan5644">GNSS</tspan><tspan
+         sodipodi:role="line"
+         x="30.427084"
+         y="44.322899"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan5638" /></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137137px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#Arrow1Lend)"
+       d="M 37.041666,53.583334 V 70.78125"
+       id="path4575"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4577"
+       inkscape:original-d="m 37.041666,53.583334 c 2.65e-4,5.732372 2.65e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076926,-7.9374993,-16.487202)" />
+    <rect
+       style="opacity:1;fill:#999999;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-3"
+       width="27.781252"
+       height="26.458336"
+       x="15.875"
+       y="76.072914" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="29.72858"
+       y="87.772789"
+       id="text4596"><tspan
+         sodipodi:role="line"
+         id="tspan4594"
+         x="29.72858"
+         y="87.772789"
+         style="text-align:center;text-anchor:middle;fill:#000000;stroke-width:0.26458332px">WR</tspan><tspan
+         sodipodi:role="line"
+         x="29.72858"
+         y="94.387375"
+         style="text-align:center;text-anchor:middle;fill:#000000;stroke-width:0.26458332px"
+         id="tspan4598">Master</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="31.75"
+       y="66.812492"
+       id="text4602"><tspan
+         sodipodi:role="line"
+         id="tspan4600"
+         x="31.75"
+         y="66.812492"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:start;writing-mode:lr-tb;text-anchor:start;stroke-width:0.26458332px">PPS1</tspan></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137137px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker5558)"
+       d="M 37.041666,53.583334 V 70.78125"
+       id="path4575-2"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4577-6"
+       inkscape:original-d="m 37.041666,53.583334 c 2.65e-4,5.732372 2.65e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076926,52.916667,-16.487202)" />
+    <rect
+       style="opacity:1;fill:#999999;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-3-9"
+       width="27.781252"
+       height="26.458336"
+       x="75.40625"
+       y="76.072914" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.257187"
+       y="87.743683"
+       id="text4596-1"><tspan
+         sodipodi:role="line"
+         id="tspan4594-2"
+         x="89.257187"
+         y="87.743683"
+         style="text-align:center;text-anchor:middle;stroke-width:0.26458332px">WR</tspan><tspan
+         sodipodi:role="line"
+         x="89.257187"
+         y="94.358269"
+         style="text-align:center;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan4665">Slave</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:end;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:end;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="87.3125"
+       y="66.812485"
+       id="text4602-0"><tspan
+         sodipodi:role="line"
+         id="tspan4600-9"
+         x="87.3125"
+         y="66.812485"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:end;writing-mode:lr-tb;text-anchor:end;stroke-width:0.26458332px">PPS2</tspan></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-start:url(#marker5382);marker-end:url(#marker5250)"
+       d="m 43.656249,89.302084 h 31.75"
+       id="path4669"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4671"
+       inkscape:original-d="m 43.656249,89.302084 c 10.583598,-2.65e-4 21.166931,-2.65e-4 31.75,0"
+       transform="translate(1.7143489e-6)" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="59.53125"
+       y="85.333321"
+       id="text4675"><tspan
+         sodipodi:role="line"
+         id="tspan4673"
+         x="59.53125"
+         y="85.333321"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px">SyncE</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="30.427084"
+       y="42.999981"
+       id="text5650"><tspan
+         sodipodi:role="line"
+         x="30.427084"
+         y="42.999981"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan6130">$t_1$, $\phi_1$</tspan></text>
+    <rect
+       style="opacity:1;fill:#ff0000;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-8"
+       width="27.781252"
+       height="26.458336"
+       x="75.40625"
+       y="27.124994" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458329px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.957664"
+       y="37.708607"
+       id="text4550-0"
+       transform="scale(1.0000074,0.99999258)"><tspan
+         sodipodi:role="line"
+         x="89.957664"
+         y="37.708607"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458329px"
+         id="tspan5644-2">GNSS</tspan><tspan
+         sodipodi:role="line"
+         x="89.957664"
+         y="44.323189"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458329px"
+         id="tspan5638-1" /></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.958336"
+       y="42.999992"
+       id="text5650-0"><tspan
+         sodipodi:role="line"
+         x="89.958336"
+         y="42.999992"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan6134">$t_2$, $\phi_2$</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="59.53125"
+       y="95.916656"
+       id="text6140"><tspan
+         sodipodi:role="line"
+         id="tspan6138"
+         x="59.53125"
+         y="95.916656"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px">$t_0$, $\phi_0$</tspan></text>
+  </g>
+</svg>
diff --git a/figures/gnss/phase-locked-gps-white-rabbit-setup-colored.svg b/figures/gnss/phase-locked-gps-white-rabbit-setup-colored.svg
new file mode 100644
index 0000000..5adc890
--- /dev/null
+++ b/figures/gnss/phase-locked-gps-white-rabbit-setup-colored.svg
@@ -0,0 +1,362 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="94.792839mm"
+   height="75.736984mm"
+   viewBox="0 0 94.792839 75.736985"
+   version="1.1"
+   id="svg8"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)"
+   sodipodi:docname="phase-locked-gps-white-rabbit-setup-colored.svg">
+  <defs
+     id="defs2">
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker5558"
+       style="overflow:visible"
+       inkscape:isstock="true">
+      <path
+         id="path5556"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lstart"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker5382"
+       style="overflow:visible"
+       inkscape:isstock="true"
+       inkscape:collect="always">
+      <path
+         id="path5380"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(0.8,0,0,0.8,10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:isstock="true"
+       style="overflow:visible"
+       id="marker5250"
+       refX="0"
+       refY="0"
+       orient="auto"
+       inkscape:stockid="Arrow1Lend"
+       inkscape:collect="always">
+      <path
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         id="path5248"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:isstock="true"
+       style="overflow:visible"
+       id="marker5042"
+       refX="0"
+       refY="0"
+       orient="auto"
+       inkscape:stockid="Arrow1Lend"
+       inkscape:collect="always">
+      <path
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         id="path5040"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow1Lend"
+       style="overflow:visible"
+       inkscape:isstock="true"
+       inkscape:collect="always">
+      <path
+         id="path4705"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4671"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4577"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4573"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4577-6"
+       is_visible="true" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.4"
+     inkscape:cx="306.78711"
+     inkscape:cy="215.60909"
+     inkscape:document-units="mm"
+     inkscape:current-layer="layer1"
+     showgrid="true"
+     inkscape:snap-text-baseline="true"
+     inkscape:window-width="960"
+     inkscape:window-height="1016"
+     inkscape:window-x="960"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:snap-intersection-paths="false"
+     inkscape:snap-midpoints="true"
+     showguides="false">
+    <inkscape:grid
+       type="xygrid"
+       id="grid4541"
+       originx="-10.847916"
+       originy="-194.30337" />
+  </sodipodi:namedview>
+  <metadata
+     id="metadata5">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-10.847916,-26.959628)">
+    <rect
+       style="opacity:1;fill:#0000ff;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713"
+       width="27.781252"
+       height="26.458336"
+       x="15.875"
+       y="27.124992" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="30.427084"
+       y="37.708324"
+       id="text4550"><tspan
+         sodipodi:role="line"
+         x="30.427084"
+         y="37.708324"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan5644">GNSS</tspan><tspan
+         sodipodi:role="line"
+         x="30.427084"
+         y="44.322906"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan5638" /></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137139px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker5042)"
+       d="M 23.8125,53.583334 V 70.78125"
+       id="path4571"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4573"
+       inkscape:original-d="m 23.8125,53.583334 c 2.64e-4,5.732372 2.64e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076924,1.1874406,-16.685156)" />
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137137px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#Arrow1Lend)"
+       d="M 37.041666,53.583334 V 70.78125"
+       id="path4575"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4577"
+       inkscape:original-d="m 37.041666,53.583334 c 2.65e-4,5.732372 2.65e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076926,-2.5023729,-16.69789)" />
+    <rect
+       style="opacity:1;fill:#0000ff;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-3"
+       width="27.781252"
+       height="26.458336"
+       x="15.875"
+       y="76.072914" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="29.72858"
+       y="87.772789"
+       id="text4596"><tspan
+         sodipodi:role="line"
+         id="tspan4594"
+         x="29.72858"
+         y="87.772789"
+         style="text-align:center;text-anchor:middle;fill:#000000;stroke-width:0.26458332px">WR</tspan><tspan
+         sodipodi:role="line"
+         x="29.72858"
+         y="94.387375"
+         style="text-align:center;text-anchor:middle;fill:#000000;stroke-width:0.26458332px"
+         id="tspan4598">Master</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="37.041668"
+       y="66.8125"
+       id="text4602"><tspan
+         sodipodi:role="line"
+         id="tspan4600"
+         x="37.041668"
+         y="66.8125"
+         style="stroke-width:0.26458332px">PPS1</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="10.583333"
+       y="66.8125"
+       id="text4606"><tspan
+         sodipodi:role="line"
+         id="tspan4604"
+         x="10.583333"
+         y="66.8125"
+         style="stroke-width:0.26458332px">CLK</tspan></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137137px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker5558)"
+       d="M 37.041666,53.583334 V 70.78125"
+       id="path4575-2"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4577-6"
+       inkscape:original-d="m 37.041666,53.583334 c 2.65e-4,5.732372 2.65e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076926,52.916667,-16.487202)" />
+    <rect
+       style="opacity:1;fill:#0000ff;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-3-9"
+       width="27.781252"
+       height="26.458336"
+       x="75.40625"
+       y="76.072914" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.257187"
+       y="87.743683"
+       id="text4596-1"><tspan
+         sodipodi:role="line"
+         id="tspan4594-2"
+         x="89.257187"
+         y="87.743683"
+         style="text-align:center;text-anchor:middle;stroke-width:0.26458332px">WR</tspan><tspan
+         sodipodi:role="line"
+         x="89.257187"
+         y="94.358269"
+         style="text-align:center;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan4665">Slave</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:end;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:end;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="87.3125"
+       y="66.812492"
+       id="text4602-0"><tspan
+         sodipodi:role="line"
+         id="tspan4600-9"
+         x="87.3125"
+         y="66.812492"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:end;writing-mode:lr-tb;text-anchor:end;stroke-width:0.26458332px">PPS2</tspan></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-start:url(#marker5382);marker-end:url(#marker5250)"
+       d="m 43.656249,89.302084 h 31.75"
+       id="path4669"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4671"
+       inkscape:original-d="m 43.656249,89.302084 c 10.583598,-2.65e-4 21.166931,-2.65e-4 31.75,0"
+       transform="translate(1.7143489e-6)" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="59.53125"
+       y="85.333328"
+       id="text4675"><tspan
+         sodipodi:role="line"
+         id="tspan4673"
+         x="59.53125"
+         y="85.333328"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px">SyncE</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="30.427084"
+       y="42.999989"
+       id="text5650"><tspan
+         sodipodi:role="line"
+         x="30.427084"
+         y="42.999989"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan6130">$t_1$, $\phi_1$</tspan></text>
+    <rect
+       style="opacity:1;fill:#ff0000;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-8"
+       width="27.781252"
+       height="26.458336"
+       x="75.40625"
+       y="27.124994" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458329px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.957664"
+       y="37.708607"
+       id="text4550-0"
+       transform="scale(1.0000074,0.99999258)"><tspan
+         sodipodi:role="line"
+         x="89.957664"
+         y="37.708607"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458329px"
+         id="tspan5644-2">GNSS</tspan><tspan
+         sodipodi:role="line"
+         x="89.957664"
+         y="44.323189"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458329px"
+         id="tspan5638-1" /></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.958336"
+       y="42.999992"
+       id="text5650-0"><tspan
+         sodipodi:role="line"
+         x="89.958336"
+         y="42.999992"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan6134">$t_2$, $\phi_2$</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333333px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;"
+       x="59.53125"
+       y="95.916656"
+       id="text6140"><tspan
+         sodipodi:role="line"
+         id="tspan894">$t_1$, $\phi_1$</tspan></text>
+  </g>
+</svg>
diff --git a/figures/gnss/phase-locked-gps-white-rabbit-setup.svg b/figures/gnss/phase-locked-gps-white-rabbit-setup.svg
new file mode 100644
index 0000000..fae3639
--- /dev/null
+++ b/figures/gnss/phase-locked-gps-white-rabbit-setup.svg
@@ -0,0 +1,365 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="94.792839mm"
+   height="75.736984mm"
+   viewBox="0 0 94.792839 75.736985"
+   version="1.1"
+   id="svg8"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)"
+   sodipodi:docname="phase-locked-gps-white-rabbit-setup.svg">
+  <defs
+     id="defs2">
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker5558"
+       style="overflow:visible"
+       inkscape:isstock="true">
+      <path
+         id="path5556"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lstart"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker5382"
+       style="overflow:visible"
+       inkscape:isstock="true"
+       inkscape:collect="always">
+      <path
+         id="path5380"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(0.8,0,0,0.8,10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:isstock="true"
+       style="overflow:visible"
+       id="marker5250"
+       refX="0"
+       refY="0"
+       orient="auto"
+       inkscape:stockid="Arrow1Lend"
+       inkscape:collect="always">
+      <path
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         id="path5248"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:isstock="true"
+       style="overflow:visible"
+       id="marker5042"
+       refX="0"
+       refY="0"
+       orient="auto"
+       inkscape:stockid="Arrow1Lend"
+       inkscape:collect="always">
+      <path
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         id="path5040"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <marker
+       inkscape:stockid="Arrow1Lend"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="Arrow1Lend"
+       style="overflow:visible"
+       inkscape:isstock="true"
+       inkscape:collect="always">
+      <path
+         id="path4705"
+         d="M 0,0 5,-5 -12.5,0 5,5 Z"
+         style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(-0.8,0,0,-0.8,-10,0)"
+         inkscape:connector-curvature="0" />
+    </marker>
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4671"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4577"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4573"
+       is_visible="true" />
+    <inkscape:path-effect
+       effect="spiro"
+       id="path-effect4577-6"
+       is_visible="true" />
+  </defs>
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.4"
+     inkscape:cx="199.59095"
+     inkscape:cy="117.59007"
+     inkscape:document-units="mm"
+     inkscape:current-layer="layer1"
+     showgrid="true"
+     inkscape:snap-text-baseline="true"
+     inkscape:window-width="960"
+     inkscape:window-height="1016"
+     inkscape:window-x="960"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:snap-intersection-paths="false"
+     inkscape:snap-midpoints="true"
+     showguides="false">
+    <inkscape:grid
+       type="xygrid"
+       id="grid4541"
+       originx="-10.847916"
+       originy="-194.30337" />
+  </sodipodi:namedview>
+  <metadata
+     id="metadata5">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:label="Layer 1"
+     inkscape:groupmode="layer"
+     id="layer1"
+     transform="translate(-10.847916,-26.95963)">
+    <rect
+       style="opacity:1;fill:#999999;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713"
+       width="27.781252"
+       height="26.458336"
+       x="17.197916"
+       y="27.124994" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="31.75"
+       y="37.708328"
+       id="text4550"><tspan
+         sodipodi:role="line"
+         x="31.75"
+         y="37.708328"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan5644">GNSS</tspan><tspan
+         sodipodi:role="line"
+         x="31.75"
+         y="44.32291"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan5638" /></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137139px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker5042)"
+       d="M 23.8125,53.583334 V 70.78125"
+       id="path4571"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4573"
+       inkscape:original-d="m 23.8125,53.583334 c 2.64e-4,5.732372 2.64e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076924,1.1874406,-16.685156)" />
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137137px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#Arrow1Lend)"
+       d="M 37.041666,53.583334 V 70.78125"
+       id="path4575"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4577"
+       inkscape:original-d="m 37.041666,53.583334 c 2.65e-4,5.732372 2.65e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076926,-2.5023729,-16.69789)" />
+    <rect
+       style="opacity:1;fill:#999999;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-3"
+       width="27.781252"
+       height="26.458336"
+       x="15.875"
+       y="76.072914" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="29.72858"
+       y="87.772789"
+       id="text4596"><tspan
+         sodipodi:role="line"
+         id="tspan4594"
+         x="29.72858"
+         y="87.772789"
+         style="text-align:center;text-anchor:middle;fill:#000000;stroke-width:0.26458332px">WR</tspan><tspan
+         sodipodi:role="line"
+         x="29.72858"
+         y="94.387375"
+         style="text-align:center;text-anchor:middle;fill:#000000;stroke-width:0.26458332px"
+         id="tspan4598">Master</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="37.041668"
+       y="66.8125"
+       id="text4602"><tspan
+         sodipodi:role="line"
+         id="tspan4600"
+         x="37.041668"
+         y="66.8125"
+         style="stroke-width:0.26458332px">PPS1</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="10.583333"
+       y="66.8125"
+       id="text4606"><tspan
+         sodipodi:role="line"
+         id="tspan4604"
+         x="10.583333"
+         y="66.8125"
+         style="stroke-width:0.26458332px">CLK</tspan></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.23137137px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#marker5558)"
+       d="M 37.041666,53.583334 V 70.78125"
+       id="path4575-2"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4577-6"
+       inkscape:original-d="m 37.041666,53.583334 c 2.65e-4,5.732372 2.65e-4,11.465012 0,17.197916"
+       transform="matrix(1,0,0,1.3076926,52.916667,-16.487202)" />
+    <rect
+       style="opacity:1;fill:#999999;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-3-9"
+       width="27.781252"
+       height="26.458336"
+       x="75.40625"
+       y="76.072914" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:MathJax_Math;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.257187"
+       y="87.743683"
+       id="text4596-1"><tspan
+         sodipodi:role="line"
+         id="tspan4594-2"
+         x="89.257187"
+         y="87.743683"
+         style="text-align:center;text-anchor:middle;stroke-width:0.26458332px">WR</tspan><tspan
+         sodipodi:role="line"
+         x="89.257187"
+         y="94.358269"
+         style="text-align:center;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan4665">Slave</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:end;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:end;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="87.3125"
+       y="66.812492"
+       id="text4602-0"><tspan
+         sodipodi:role="line"
+         id="tspan4600-9"
+         x="87.3125"
+         y="66.812492"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:end;writing-mode:lr-tb;text-anchor:end;stroke-width:0.26458332px">PPS2</tspan></text>
+    <path
+       style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-start:url(#marker5382);marker-end:url(#marker5250)"
+       d="m 43.656249,89.302084 h 31.75"
+       id="path4669"
+       inkscape:connector-curvature="0"
+       inkscape:path-effect="#path-effect4671"
+       inkscape:original-d="m 43.656249,89.302084 c 10.583598,-2.65e-4 21.166931,-2.65e-4 31.75,0"
+       transform="translate(1.7143489e-6)" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="60.854168"
+       y="85.333328"
+       id="text4675"><tspan
+         sodipodi:role="line"
+         id="tspan4673"
+         x="60.854168"
+         y="85.333328"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166651px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px">SyncE</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="31.75"
+       y="42.999992"
+       id="text5650"><tspan
+         sodipodi:role="line"
+         x="31.75"
+         y="42.999992"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan6130">$t_1$, $\phi_1$</tspan></text>
+    <rect
+       style="opacity:1;fill:#999999;fill-opacity:0.49803922;stroke:#323232;stroke-width:0.33072916;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+       id="rect3713-8"
+       width="27.781252"
+       height="26.458336"
+       x="75.40625"
+       y="27.124994" />
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458329px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.957664"
+       y="37.708607"
+       id="text4550-0"
+       transform="scale(1.0000074,0.99999258)"><tspan
+         sodipodi:role="line"
+         x="89.957664"
+         y="37.708607"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458329px"
+         id="tspan5644-2">GNSS</tspan><tspan
+         sodipodi:role="line"
+         x="89.957664"
+         y="44.323189"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:5.29166698px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458329px"
+         id="tspan5638-1" /></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="89.958336"
+       y="42.999992"
+       id="text5650-0"><tspan
+         sodipodi:role="line"
+         x="89.958336"
+         y="42.999992"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px"
+         id="tspan6134">$t_2$, $\phi_2$</tspan></text>
+    <text
+       xml:space="preserve"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;line-height:125%;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+       x="58.208332"
+       y="95.916664"
+       id="text6140"><tspan
+         sodipodi:role="line"
+         id="tspan6138"
+         x="58.208332"
+         y="95.916664"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333311px;font-family:MathJax_Math;-inkscape-font-specification:'MathJax_Math, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;writing-mode:lr-tb;text-anchor:middle;stroke-width:0.26458332px">$t_0$, $\phi_0$</tspan></text>
+  </g>
+</svg>