diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md
index a4348315e..648aa380a 100644
--- a/docs/CHANGELOG.md
+++ b/docs/CHANGELOG.md
@@ -85,6 +85,16 @@ All notable changes to GNSS-SDR will be documented in this file.
   overkilling nine (the ninth decimal place worths up to 110 microns).
   Similarly, height in meters is now reported with two decimal places instead of
   three, and velocity in m/s also with two decimal places instead of three.
+- Fixed the rate at which KLM, GPX, GeoJSON, and NMEA annotations are made. The
+  rate is now set by `PVT.output_rate_ms` (`500` ms by default), and can be
+  particularized by `PVT.kml_rate_ms`, `PVT.gpx_rate_ms`, `PVT.geojson_rate_ms`,
+  and `PVT.nmea_rate_ms`. Those values should be multiples of
+  `PVT.output_rate_ms`, or the least common multiple will be taken.
+
+See the definitions of concepts and metrics at
+https://gnss-sdr.org/design-forces/
+
+ 
 
 ## [GNSS-SDR v0.0.18](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.18) - 2023-04-06
 
diff --git a/src/algorithms/PVT/libs/pvt_conf.h b/src/algorithms/PVT/libs/pvt_conf.h
index 80f4494d5..37d9b5aac 100644
--- a/src/algorithms/PVT/libs/pvt_conf.h
+++ b/src/algorithms/PVT/libs/pvt_conf.h
@@ -56,13 +56,13 @@ public:
 
     int32_t output_rate_ms = 0;
     int32_t display_rate_ms = 0;
-    int32_t kml_rate_ms = 1000;
-    int32_t gpx_rate_ms = 1000;
-    int32_t geojson_rate_ms = 1000;
-    int32_t nmea_rate_ms = 1000;
+    int32_t kml_rate_ms = 20;
+    int32_t gpx_rate_ms = 20;
+    int32_t geojson_rate_ms = 20;
+    int32_t nmea_rate_ms = 20;
     int32_t rinex_version = 0;
     int32_t rinexobs_rate_ms = 0;
-    int32_t an_rate_ms = 1000;
+    int32_t an_rate_ms = 20;
     int32_t max_obs_block_rx_clock_offset_ms = 40;
     int udp_port = 0;
     int udp_eph_port = 0;