diff --git a/include/gnss_utils/receiver_raw_base.h b/include/gnss_utils/receiver_raw_base.h
index 644eade787170e2ae0cda5e126ff767b58195718..651a38ca73d229ee82afa0bf62f0e706d33a5448 100644
--- a/include/gnss_utils/receiver_raw_base.h
+++ b/include/gnss_utils/receiver_raw_base.h
@@ -8,16 +8,16 @@ namespace GnssUtils
 {
 enum RawDataType : int
 {
-  NO       = 0,
-  OBS      = 1,
-  NAV_EPH  = 2,
-  NAV_SBAS = 3,
-  NAV_ALM  = 9,
-  NAV_ANT  = 5,
-  NAV_DGPS = 7,
-  NAV_SSR  = 10,
-  NAV_LEX  = 31,
-  ERROR    = -1
+  NO             = 0,
+  OBS            = 1,
+  NAV_EPH        = 2,
+  NAV_SBAS       = 3,
+  NAV_ALM_IONUTC = 9,
+  NAV_ANT        = 5,
+  NAV_DGPS       = 7,
+  NAV_SSR        = 10,
+  NAV_LEX        = 31,
+  ERROR          = -1
 };
 
 class ReceiverRawAbstract
diff --git a/novatel_messages.txt b/novatel_messages.txt
deleted file mode 100644
index 607888ca0ca07d69f2211077ce0b83c963b0afde..0000000000000000000000000000000000000000
--- a/novatel_messages.txt
+++ /dev/null
@@ -1,25 +0,0 @@
------------- GALILEO -----------
-GALALMANAC: 1120 (OK RTK)
-GALGLOCK:   1121 (OK RTK)
-GALINAVEPHEMERIS: 1309 (same info with an offset in sent via E1 and E5)
-GALIONO:    1127 (OK RTK)
-
------------- GLONASS -----------
-GLOALMANAC: 718
-GLOCLOCK:   719
-GLOEPHEMERIS: 723 (OK RTK)
-
-
-------------   GPS   -----------
-GPALM: 217
-GPSEPHEM: 7 (L1 EPHEM) --> RAWEPHEM: 41 (OK RTK)
-
-
-------------   SBAS   -----------
-SBASALMANAC: 1425
-
-------------  COMMON -----------
-RANGE: 43 (OK RTK)
-
-
-novatel.c L1061, there might be an error. Should move right 5 bits instead of 4 to know the message type.
diff --git a/src/receivers/novatel_raw.cpp b/src/receivers/novatel_raw.cpp
index d54256b3581ef64a3d24beb17a6e87e9e1cab14f..21487f72d97b1321427865097faf352a608dc0da 100644
--- a/src/receivers/novatel_raw.cpp
+++ b/src/receivers/novatel_raw.cpp
@@ -26,23 +26,21 @@ RawDataType NovatelRaw::addDataStream(const std::vector<uint8_t>& data_stream)
       case OBS:  // Observations
         std::cout << "Observations Novatel received!\n";
         updateObservations();
-        // obs_.print();
         break;
 
       case NAV_EPH:  // Ephemeris
         std::cout << "Ephemeris received!\n";
         nav_.copyEphemeris(raw_data_.nav);
-        nav_.print();
+        nav_.uniqueNavigation();
         break;
 
       case NAV_SBAS:  // SBAS
         std::cout << "SBAS received!\n";
-        // std::cout << "SBAS added!\n";
         break;
 
-      case NAV_ALM:  // Almanac and ion/utc parameters
+      case NAV_ALM_IONUTC:  // Almanac and ion/utc parameters
         std::cout << "Almanac and ion/utc parameters received!\n";
-        // std::cout << "Almanac freed!\n";
+        nav_.copyIonUtc(raw_data_.nav);
         break;
 
       // Not handled messages
diff --git a/src/receivers/ublox_raw.cpp b/src/receivers/ublox_raw.cpp
index e3529eef68c506925648a2ef7cc5303f4861d8ab..0d17bae737a629cd1490c01d4922d42fff007deb 100644
--- a/src/receivers/ublox_raw.cpp
+++ b/src/receivers/ublox_raw.cpp
@@ -32,7 +32,6 @@ RawDataType UBloxRaw::addDataStream(const std::vector<uint8_t>& data_stream)
       case NAV_EPH:  // Ephemeris
         std::cout << "Ephemeris received!\n";
         nav_.copyEphemeris(raw_data_.nav);
-        // std::cout << "Ephemeris copied!\n";
         break;
 
       case NAV_SBAS:  // SBAS
@@ -41,14 +40,11 @@ RawDataType UBloxRaw::addDataStream(const std::vector<uint8_t>& data_stream)
         // std::cout << "SBAS added!\n";
         break;
 
-      case NAV_ALM:  // Almanac and ion/utc parameters
+      case NAV_ALM_IONUTC:  // Almanac and ion/utc parameters
         std::cout << "Almanac and ion/utc parameters received!\n";
         nav_.freeAlmanac();
-        // std::cout << "Almanac freed!\n";
         nav_.copyAlmanac(raw_data_.nav);
-        // std::cout << "Almanac copied!\n";
         nav_.copyIonUtc(raw_data_.nav);
-        // std::cout << "ION UTC copied!\n";
         break;
 
       // Not handled messages