OEM6 FW OM 20000129 Firmware Manual

User Manual:

Open the PDF directly: View PDF .
Page Count: 737

Download
Open PDF In Browser	View PDF

OEM6® Family
Firmware Reference Manual

OM-20000129

Rev 12

July 2017

OEM6 Family of Receivers - Firmware Reference Manual
Publication Number:
Revision Level:
Revision Date:

OM-20000129
12
July 2017

This manual reflects firmware version 6.720 / OEM060720RN0000

Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment on the
part of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time
of publication.
OEM6, STEADYLINE, ALIGN and NovAtel are registered trademarks of NovAtel Inc.
OEM615, OEM617, OEM617D, OEM628, OEM638, FlexPak6, FlexPak6D, NovAtel CORRECT and GLIDE
are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.

© Copyright 2017 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright
laws.

OEM6 Firmware Reference Manual Rev 12

2

Table of Contents
Customer Support............................................................................................................. 16
NovAtel Knowledge Base ........................................................................................................................... 16
Before Contacting Customer Support......................................................................................................... 16
Contact Information .................................................................................................................................... 16

Foreword ............................................................................................................................ 17
Related Documents and Information .......................................................................................................... 17
Conventions................................................................................................................................................ 17
Logs and Commands Defaults and Structure............................................................................................. 18
Prerequisites............................................................................................................................................... 18

1 Messages ....................................................................................................................... 19
1.1 Message Types .................................................................................................................................. 19
1.1.1 ASCII ....................................................................................................................................... 20
1.1.2 Abbreviated ASCII ................................................................................................................... 22
1.1.3 Binary ...................................................................................................................................... 22
1.2 Responses ......................................................................................................................................... 29
1.2.1 Abbreviated Response ............................................................................................................ 29
1.2.2 ASCII Response ...................................................................................................................... 29
1.2.3 Binary Response ..................................................................................................................... 29
1.3 GLONASS Slot and Frequency Numbers .......................................................................................... 31
1.4 GPS Reference Time Status .............................................................................................................. 32
1.5 Message Time Stamps....................................................................................................................... 33
1.6 Decoding of the GPS Reference Week Number ................................................................................ 33
1.7 32-Bit CRC ......................................................................................................................................... 34

2 Commands..................................................................................................................... 36
2.1
2.2
2.3
2.4

Command Formats............................................................................................................................. 36
Command Settings............................................................................................................................. 36
Factory Defaults ................................................................................................................................. 37
Command Reference ......................................................................................................................... 37
2.4.1 ADJUST1PPS ......................................................................................................................... 58
2.4.2 AIRPLANEMODE .................................................................................................................... 63
2.4.3 ALIGNAUTOMATION.............................................................................................................. 64
2.4.4 ANTENNAPOWER.................................................................................................................. 65
2.4.5 APPLICATION......................................................................................................................... 66
2.4.6 ASSIGN ................................................................................................................................... 67
2.4.7 ASSIGNALL............................................................................................................................. 70
2.4.8 ASSIGNLBAND ....................................................................................................................... 72
2.4.9 ASSIGNLBAND2 ..................................................................................................................... 74
2.4.10 ASSIGNLBANDBEAM...........................................................................................................75
2.4.11 AUTH..................................................................................................................................... 77
2.4.12 AUTOSURVEY...................................................................................................................... 79
2.4.13 BASEANTENNAMODEL ....................................................................................................... 81
2.4.14 BASEANTENNAPCO ............................................................................................................ 83
2.4.15 BASEANTENNAPCV ............................................................................................................ 85
2.4.16 BASEANTENNATYPE ..........................................................................................................86
2.4.17 BDSECUTOFF ...................................................................................................................... 95
2.4.18 BESTVELTYPE ..................................................................................................................... 96
2.4.19 BLUETOOTHCONFIG...........................................................................................................97
2.4.20 BLUETOOTHDISCOVERABILITY ........................................................................................ 98
2.4.21 CELLULARCONFIG .............................................................................................................. 99

OEM6 Firmware Reference Manual Rev 12

3

2.4.22
2.4.23
2.4.24
2.4.25
2.4.26
2.4.27
2.4.28
2.4.29
2.4.30
2.4.31
2.4.32
2.4.33
2.4.34
2.4.35
2.4.36
2.4.37
2.4.38
2.4.39
2.4.40
2.4.41
2.4.42
2.4.43
2.4.44
2.4.45
2.4.46
2.4.47
2.4.48
2.4.49
2.4.50
2.4.51
2.4.52
2.4.53
2.4.54
2.4.55
2.4.56
2.4.57
2.4.58
2.4.59
2.4.60
2.4.61
2.4.62
2.4.63
2.4.64
2.4.65
2.4.66
2.4.67
2.4.68
2.4.69
2.4.70
2.4.71
2.4.72
2.4.73
2.4.74
2.4.75
2.4.76

CLOCKADJUST ..................................................................................................................101
CLOCKCALIBRATE ............................................................................................................102
CLOCKOFFSET ..................................................................................................................104
CNOUPDATE ......................................................................................................................105
COM ....................................................................................................................................106
COMCONFIG ......................................................................................................................108
COMCONTROL...................................................................................................................109
COMVOUT ..........................................................................................................................111
DATADECODESIGNAL ......................................................................................................112
DATUM................................................................................................................................115
DGPSEPHEMDELAY..........................................................................................................120
DGPSTXID ..........................................................................................................................121
DHCPCONFIG ....................................................................................................................122
DIFFCODEBIASCONTROL ................................................................................................123
DLLTIMECONST.................................................................................................................124
DNSCONFIG .......................................................................................................................127
DOSCMD.............................................................................................................................128
DUALANTENNAALIGN .......................................................................................................130
DUALANTENNAPOWER ....................................................................................................131
DYNAMICS..........................................................................................................................132
ECHO ..................................................................................................................................134
ECUTOFF............................................................................................................................136
ELEVATIONCUTOFF..........................................................................................................138
ETHCONFIG .......................................................................................................................140
EVENTINCONTROL ...........................................................................................................141
EVENTOUTCONTROL .......................................................................................................143
EXTERNALCLOCK .............................................................................................................145
FIX .......................................................................................................................................148
FIXPOSDATUM...................................................................................................................151
FORCEGLOL2CODE ..........................................................................................................152
FORCEGPSL2CODE ..........................................................................................................153
FREQUENCYOUT ..............................................................................................................155
FRESET ..............................................................................................................................157
GALECUTOFF ....................................................................................................................159
GENERATEALIGNCORRECTIONS ...................................................................................160
GENERATEDIFFCORRECTIONS ......................................................................................161
GENERATERTKCORRECTIONS .......................................................................................162
GGAQUALITY .....................................................................................................................164
GLIDEINITIALIZATIONPERIOD..........................................................................................166
GLOECUTOFF ....................................................................................................................167
HDTOUTTHRESHOLD .......................................................................................................168
HEADINGOFFSET ..............................................................................................................169
HPSEED..............................................................................................................................170
HPSTATICINIT ....................................................................................................................173
ICOMCONFIG .....................................................................................................................174
INTERFACEMODE .............................................................................................................176
IOCONFIG...........................................................................................................................180
IONOCONDITION ...............................................................................................................182
IPCONFIG ...........................................................................................................................183
IPSERVICE .........................................................................................................................184
LEDCONFIG........................................................................................................................185
LOCKOUT ...........................................................................................................................190
LOCKOUTSYSTEM ............................................................................................................191
LOG .....................................................................................................................................192
LOGFILE .............................................................................................................................197

OEM6 Firmware Reference Manual Rev 12

4

2.4.77 LOGIN .................................................................................................................................199
2.4.78 LOGOUT .............................................................................................................................200
2.4.79 MAGVAR .............................................................................................................................201
2.4.80 MARKCONTROL.................................................................................................................203
2.4.81 MODEL................................................................................................................................205
2.4.82 MOVINGBASESTATION.....................................................................................................206
2.4.83 NMEATALKER ....................................................................................................................208
2.4.84 NMEAVERSION ..................................................................................................................210
2.4.85 NTRIPCONFIG....................................................................................................................211
2.4.86 NTRIPSOURCETABLE .......................................................................................................213
2.4.87 NVMRESTORE ...................................................................................................................214
2.4.88 OMNIUSEGLONASS ..........................................................................................................215
2.4.89 PDPFILTER.........................................................................................................................216
2.4.90 PDPMODE ..........................................................................................................................217
2.4.91 PDPVELOCITYOUT............................................................................................................218
2.4.92 POSAVE..............................................................................................................................219
2.4.93 POSTIMEOUT.....................................................................................................................220
2.4.94 PPPCONVERGEDCRITERIA .............................................................................................221
2.4.95 PPPDYNAMICS ..................................................................................................................222
2.4.96 PPPSEED............................................................................................................................223
2.4.97 PPPSOURCE ......................................................................................................................225
2.4.98 PPPTIMEOUT .....................................................................................................................226
2.4.99 PPSCONTROL....................................................................................................................227
2.4.100 PPSCONTROL2................................................................................................................229
2.4.101 PROFILE ...........................................................................................................................231
2.4.102 PSRDIFFSOURCE............................................................................................................233
2.4.103 PSRDIFFSOURCETIMEOUT............................................................................................236
2.4.104 PSRDIFFTIMEOUT ...........................................................................................................237
2.4.105 QZSSECUTOFF................................................................................................................238
2.4.106 RAIMMODE.......................................................................................................................239
2.4.107 REFERENCESTATIONTIMEOUT.....................................................................................241
2.4.108 RESET...............................................................................................................................242
2.4.109 RTKANTENNA ..................................................................................................................243
2.4.110 RTKASSIST.......................................................................................................................245
2.4.111 RTKASSISTTIMEOUT ......................................................................................................246
2.4.112 RTKCOMMAND ................................................................................................................247
2.4.113 RTKDYNAMICS ................................................................................................................248
2.4.114 RTKELEVMASK ................................................................................................................249
2.4.115 RTKINTEGERCRITERIA...................................................................................................250
2.4.116 RTKMATCHEDTIMEOUT .................................................................................................251
2.4.117 RTKNETWORK .................................................................................................................252
2.4.118 RTKQUALITYLEVEL.........................................................................................................254
2.4.119 RTKSOURCE ....................................................................................................................255
2.4.120 RTKSOURCETIMEOUT....................................................................................................257
2.4.121 RTKSVENTRIES ...............................................................................................................258
2.4.122 RTKTIMEOUT ...................................................................................................................259
2.4.123 SAVECONFIG ...................................................................................................................260
2.4.124 SAVEETHERNETDATA ....................................................................................................261
2.4.125 SBASCONTROL ...............................................................................................................262
2.4.126 SBASECUTOFF ................................................................................................................264
2.4.127 SBASTIMEOUT.................................................................................................................265
2.4.128 SELECTCHANCONFIG ....................................................................................................266
2.4.129 SEND.................................................................................................................................268
2.4.130 SENDHEX .........................................................................................................................270
2.4.131 SERIALCONFIG................................................................................................................271
OEM6 Firmware Reference Manual Rev 12

5

2.4.132
2.4.133
2.4.134
2.4.135
2.4.136
2.4.137
2.4.138
2.4.139
2.4.140
2.4.141
2.4.142
2.4.143
2.4.144
2.4.145
2.4.146
2.4.147
2.4.148
2.4.149
2.4.150
2.4.151
2.4.152
2.4.153
2.4.154
2.4.155
2.4.156
2.4.157
2.4.158
2.4.159
2.4.160
2.4.161
2.4.162
2.4.163
2.4.164
2.4.165
2.4.166
2.4.167
2.4.168
2.4.169
2.4.170
2.4.171
2.4.172
2.4.173
2.4.174
2.4.175
2.4.176
2.4.177
2.4.178
2.4.179
2.4.180
2.4.181
2.4.182

SERIALPROTOCOL..........................................................................................................274
SETADMINPASSWORD ...................................................................................................275
SETAPPROXPOS .............................................................................................................276
SETAPPROXTIME ............................................................................................................277
SETBASERECEIVERTYPE ..............................................................................................278
SETBESTPOSCRITERIA..................................................................................................279
SETCANNAME..................................................................................................................280
SETDIFFCODEBIASES ....................................................................................................281
SETFILECOPYMODE .......................................................................................................282
SETIONOTYPE .................................................................................................................284
SETNAV ............................................................................................................................285
SETPREFERREDNETIF ...................................................................................................287
SETROVERID ...................................................................................................................289
SETRTCM16 .....................................................................................................................290
SETRTCM36 .....................................................................................................................291
SETRTCMRXVERSION ....................................................................................................293
SETRTCMTXVERSION ....................................................................................................294
SETTIMEBASE .................................................................................................................295
SETTROPOMODEL ..........................................................................................................297
SETUTCLEAPSECONDS .................................................................................................298
SOFTLOADCOMMIT.........................................................................................................299
SOFTLOADDATA..............................................................................................................300
SOFTLOADFILE................................................................................................................301
SOFTLOADRESET ...........................................................................................................302
SOFTLOADSETUP ...........................................................................................................303
SOFTLOADSREC .............................................................................................................305
SOFTPOWER ...................................................................................................................306
STATUSCONFIG ..............................................................................................................307
STEADYLINE ....................................................................................................................309
STEADYLINEDIFFERENTIALTIMEOUT ..........................................................................311
THISANTENNAPCO .........................................................................................................312
THISANTENNAPCV..........................................................................................................313
THISANTENNATYPE........................................................................................................314
TRACKSV..........................................................................................................................315
TUNNELESCAPE..............................................................................................................317
UALCONTROL ..................................................................................................................319
UNASSIGN........................................................................................................................321
UNASSIGNALL .................................................................................................................322
UNDULATION ...................................................................................................................323
UNLOCKOUT ....................................................................................................................325
UNLOCKOUTALL..............................................................................................................326
UNLOCKOUTSYSTEM .....................................................................................................327
UNLOG..............................................................................................................................328
UNLOGALL .......................................................................................................................330
USERDATUM....................................................................................................................331
USEREXPDATUM.............................................................................................................333
UTMZONE.........................................................................................................................335
WIFIAPCONFIG ................................................................................................................337
WIFICLICONFIG ...............................................................................................................340
WIFICLICONTROL............................................................................................................342
WIFICONFIG .....................................................................................................................344

3 Data Logs ..................................................................................................................... 346
3.1 Log Types ........................................................................................................................................346
3.1.1 Log Type Examples...............................................................................................................347

OEM6 Firmware Reference Manual Rev 12

6

3.2 Log Reference..................................................................................................................................348
3.2.1 ALIGNBSLNENU...................................................................................................................374
3.2.2 ALIGNBSLNXYZ ...................................................................................................................376
3.2.3 ALIGNDOP ............................................................................................................................378
3.2.4 ALMANAC .............................................................................................................................379
3.2.5 APPLICATIONSTATUS.........................................................................................................381
3.2.6 AUTHCODES ........................................................................................................................382
3.2.7 AVEPOS................................................................................................................................384
3.2.8 BDSALMANAC......................................................................................................................386
3.2.9 BDSCLOCK...........................................................................................................................388
3.2.10 BDSEPHEMERIS ................................................................................................................389
3.2.11 BDSIONO ............................................................................................................................391
3.2.12 BDSRAWNAVSUBFRAME .................................................................................................392
3.2.13 BESTPOS............................................................................................................................393
3.2.14 BESTSATS..........................................................................................................................400
3.2.15 BESTUTM ...........................................................................................................................403
3.2.16 BESTVEL ............................................................................................................................405
3.2.17 BESTXYZ ............................................................................................................................407
3.2.18 BLUETOOTHSTATUS ........................................................................................................410
3.2.19 BSLNXYZ ............................................................................................................................412
3.2.20 CELLULARINFO .................................................................................................................414
3.2.21 CELLULARSTATUS............................................................................................................415
3.2.22 CHANCONFIGLIST.............................................................................................................417
3.2.23 CLOCKMODEL ...................................................................................................................420
3.2.24 CLOCKSTEERING..............................................................................................................422
3.2.25 CMR Standard Logs ............................................................................................................424
3.2.26 COMCONFIG ......................................................................................................................427
3.2.27 DIRENT ...............................................................................................................................428
3.2.28 ETHSTATUS .......................................................................................................................429
3.2.29 GALALMANAC ....................................................................................................................430
3.2.30 GALCLOCK .........................................................................................................................432
3.2.31 GALEPHEMERIS ................................................................................................................433
3.2.32 GALFNAVEPHEMERIS.......................................................................................................436
3.2.33 GALFNAVRAWPAGE .........................................................................................................438
3.2.34 GALINAVEPHEMERIS........................................................................................................439
3.2.35 GALINAVRAWWORD .........................................................................................................441
3.2.36 GALIONO ............................................................................................................................442
3.2.37 GLMLA ................................................................................................................................443
3.2.38 GLOALMANAC....................................................................................................................445
3.2.39 GLOCLOCK.........................................................................................................................447
3.2.40 GLOEPHEMERIS................................................................................................................449
3.2.41 GLORAWALM .....................................................................................................................452
3.2.42 GLORAWEPHEM................................................................................................................454
3.2.43 GLORAWFRAME ................................................................................................................455
3.2.44 GLORAWSTRING ...............................................................................................................457
3.2.45 GPALM ................................................................................................................................458
3.2.46 GPGGA ...............................................................................................................................460
3.2.47 GPGGALONG .....................................................................................................................463
3.2.48 GPGGARTK ........................................................................................................................465
3.2.49 GPGLL.................................................................................................................................467
3.2.50 GPGRS................................................................................................................................469
3.2.51 GPGSA................................................................................................................................471
3.2.52 GPGST ................................................................................................................................473
3.2.53 GPGSV................................................................................................................................475
3.2.54 GPHDT ................................................................................................................................477
OEM6 Firmware Reference Manual Rev 12

7

3.2.55 GPRMB ...............................................................................................................................478
3.2.56 GPRMC ...............................................................................................................................480
3.2.57 GPSEPHEM ........................................................................................................................482
3.2.58 GPVTG ................................................................................................................................485
3.2.59 GPZDA ................................................................................................................................486
3.2.60 HEADING ............................................................................................................................487
3.2.61 HEADING2 ..........................................................................................................................489
3.2.62 HEADINGRATE...................................................................................................................491
3.2.63 HEADINGSATS...................................................................................................................493
3.2.64 HWMONITOR......................................................................................................................495
3.2.65 IONUTC...............................................................................................................................498
3.2.66 IPSTATS..............................................................................................................................500
3.2.67 IPSTATUS ...........................................................................................................................501
3.2.68 LBANDBEAMTABLE ...........................................................................................................503
3.2.69 LBANDINFO ........................................................................................................................504
3.2.70 LBANDSTAT .......................................................................................................................506
3.2.71 LBANDTRACKSTAT ...........................................................................................................510
3.2.72 LOGFILESTATUS ...............................................................................................................512
3.2.73 LOGLIST .............................................................................................................................513
3.2.74 MARK1COUNT, MARK2COUNT, MARK3COUNT and MARK4COUNT............................515
3.2.75 MARKPOS, MARK2POS, MARK3POS and MARK4POS...................................................516
3.2.76 MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME...............................................519
3.2.77 MASTERPOS ......................................................................................................................521
3.2.78 MATCHEDPOS ...................................................................................................................523
3.2.79 MATCHEDSATS .................................................................................................................525
3.2.80 MATCHEDXYZ....................................................................................................................526
3.2.81 MODELFEATURES.............................................................................................................528
3.2.82 NAVIGATE ..........................................................................................................................531
3.2.83 NMEA Standard Logs..........................................................................................................534
3.2.84 NOVATELXOBS..................................................................................................................536
3.2.85 NOVATELXREF ..................................................................................................................537
3.2.86 OMNIHPPOS.......................................................................................................................538
3.2.87 OMNIHPSATS.....................................................................................................................540
3.2.88 OMNIVIS .............................................................................................................................541
3.2.89 PASSCOM, PASSXCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM543
3.2.90 PASSTHROUGH.................................................................................................................547
3.2.91 PDPPOS..............................................................................................................................548
3.2.92 PDPSATS............................................................................................................................550
3.2.93 PDPVEL ..............................................................................................................................551
3.2.94 PDPXYZ ..............................................................................................................................552
3.2.95 PORTSTATS .......................................................................................................................554
3.2.96 PPPPOS..............................................................................................................................556
3.2.97 PPPSATS ............................................................................................................................558
3.2.98 PROFILEINFO.....................................................................................................................560
3.2.99 PSRDOP .............................................................................................................................562
3.2.100 PSRDOP2 .........................................................................................................................564
3.2.101 PSRPOS............................................................................................................................565
3.2.102 PSRSATS..........................................................................................................................567
3.2.103 PSRTIME...........................................................................................................................569
3.2.104 PSRVEL ............................................................................................................................570
3.2.105 PSRXYZ ............................................................................................................................572
3.2.106 QZSSALMANAC ...............................................................................................................574
3.2.107 QZSSEPHEMERIS............................................................................................................576
3.2.108 QZSSIONUTC ...................................................................................................................578
3.2.109 QZSSRAWALMANAC .......................................................................................................580
OEM6 Firmware Reference Manual Rev 12

8

3.2.110
3.2.111
3.2.112
3.2.113
3.2.114
3.2.115
3.2.116
3.2.117
3.2.118
3.2.119
3.2.120
3.2.121
3.2.122
3.2.123
3.2.124
3.2.125
3.2.126
3.2.127
3.2.128
3.2.129
3.2.130
3.2.131
3.2.132
3.2.133
3.2.134
3.2.135
3.2.136
3.2.137
3.2.138
3.2.139
3.2.140
3.2.141
3.2.142
3.2.143
3.2.144
3.2.145
3.2.146
3.2.147
3.2.148
3.2.149
3.2.150
3.2.151
3.2.152
3.2.153
3.2.154
3.2.155
3.2.156
3.2.157
3.2.158
3.2.159
3.2.160
3.2.161
3.2.162
3.2.163
3.2.164

QZSSRAWCNAVMESSAGE.............................................................................................581
QZSSRAWEPHEM............................................................................................................582
QZSSRAWSUBFRAME ....................................................................................................583
RAIMSTATUS ...................................................................................................................584
RANGE..............................................................................................................................586
RANGECMP......................................................................................................................592
RANGECMP2....................................................................................................................595
RANGEGPSL1 ..................................................................................................................601
RAWALM...........................................................................................................................603
RAWCNAVFRAME............................................................................................................605
RAWEPHEM .....................................................................................................................606
RAWGPSSUBFRAME.......................................................................................................608
RAWGPSWORD ...............................................................................................................609
RAWLBANDFRAME..........................................................................................................610
RAWLBANDPACKET........................................................................................................612
RAWSBASFRAME ............................................................................................................613
REFSTATION....................................................................................................................614
REFSTATIONINFO ...........................................................................................................616
ROVERPOS ......................................................................................................................617
RTCA Standard Logs ........................................................................................................619
RTCM Standard Logs........................................................................................................621
RTCMV3 Standard Logs ...................................................................................................624
RTKASSISTSTATUS ........................................................................................................630
RTKDOP............................................................................................................................631
RTKDOP2..........................................................................................................................632
RTKPOS............................................................................................................................633
RTKSATS ..........................................................................................................................635
RTKVEL.............................................................................................................................637
RTKXYZ ............................................................................................................................639
RXCONFIG........................................................................................................................641
RXSTATUS .......................................................................................................................643
RXSTATUSEVENT ...........................................................................................................651
SATVIS..............................................................................................................................653
SATVIS2............................................................................................................................655
SATXYZ2...........................................................................................................................658
SBAS0 ...............................................................................................................................660
SBAS1 ...............................................................................................................................661
SBAS2 ...............................................................................................................................662
SBAS3 ...............................................................................................................................665
SBAS4 ...............................................................................................................................667
SBAS5 ...............................................................................................................................669
SBAS6 ...............................................................................................................................671
SBAS7 ...............................................................................................................................674
SBAS9 ...............................................................................................................................677
SBAS10 .............................................................................................................................679
SBAS12 .............................................................................................................................681
SBAS17 .............................................................................................................................682
SBAS18 .............................................................................................................................684
SBAS24 .............................................................................................................................685
SBAS25 .............................................................................................................................687
SBAS26 .............................................................................................................................689
SBAS27 .............................................................................................................................690
SBAS32 .............................................................................................................................691
SBAS33 .............................................................................................................................693
SBAS34 .............................................................................................................................695

OEM6 Firmware Reference Manual Rev 12

9

3.2.165
3.2.166
3.2.167
3.2.168
3.2.169
3.2.170
3.2.171
3.2.172
3.2.173
3.2.174
3.2.175
3.2.176
3.2.177
3.2.178
3.2.179
3.2.180
3.2.181
3.2.182

SBAS35 .............................................................................................................................697
SBAS45 .............................................................................................................................699
SBASALMANAC................................................................................................................701
SBASCORR ......................................................................................................................703
SOFTLOADSTATUS .........................................................................................................705
SOURCETABLE................................................................................................................708
TERRASTARINFO ............................................................................................................711
TERRASTARSTATUS.......................................................................................................713
TIME ..................................................................................................................................715
TIMESYNC ........................................................................................................................717
TRACKSTAT .....................................................................................................................718
VALIDMODELS .................................................................................................................720
VERIPOSINFO ..................................................................................................................721
VERIPOSSTATUS ............................................................................................................722
VERSION ..........................................................................................................................723
WIFIAPSTATUS ................................................................................................................726
WIFICLISCANRESULTS...................................................................................................728
WIFICLISTATUS ...............................................................................................................731

4 Responses ................................................................................................................... 735

OEM6 Firmware Reference Manual Rev 12

10

Figures
Figure 1: Byte Arrangements .......................................................................................................................... 20
Figure 2: 1PPS Alignment............................................................................................................................... 58
Figure 3: ADJUST1PPS Connections............................................................................................................. 60
Figure 4: Pulse Width and 1PPS Coherency ................................................................................................155
Figure 5: Illustration of Magnetic Variation and Correction ...........................................................................201
Figure 6: TTL Pulse Polarity .........................................................................................................................203
Figure 7: Moving Base Station ‘Daisy Chain’ Effect......................................................................................207
Figure 8: Using the SEND Command ...........................................................................................................268
Figure 9: Illustration of SETNAV Parameters ...............................................................................................285
Figure 10: Illustration of Undulation ..............................................................................................................323
Figure 11: Navigation Parameters ................................................................................................................531
Figure 12: Pass Through Log Data ...............................................................................................................545

OEM6 Firmware Reference Manual Rev 12

11

Tables
Table 1: Field Types ........................................................................................................................................ 19
Table 2: ASCII Message Header Structure...................................................................................................... 21
Table 3: Binary Message Header Structure ..................................................................................................... 23
Table 4: Detailed Port Identifier ....................................................................................................................... 24
Table 5: Available Port Types .......................................................................................................................... 29
Table 6: Binary Message Response Structure ................................................................................................ 30
Table 7: Binary Message Sequence ................................................................................................................ 31
Table 8: GPS Reference Time Status ............................................................................................................. 32
Table 9: OEM6 Commands Sorted by Function ..............................................................................................37
Table 10: OEM6 Commands in Alphabetical Order ......................................................................................... 44
Table 11: OEM6 Commands in Numerical Order ............................................................................................ 51
Table 12: Channel State .................................................................................................................................. 67
Table 13: Channel System............................................................................................................................... 71
Table 14: L-Band Mode ................................................................................................................................... 73
Table 15: L-Band Assignment Option .............................................................................................................. 76
Table 16: Frequency Type ............................................................................................................................... 84
Table 17: Antenna Type................................................................................................................................... 86
Table 18: Radome Type .................................................................................................................................. 93
Table 19: Velocity Types.................................................................................................................................. 96
Table 20: Supported BLUETOOTHCONFIG Parameters ................................................................................ 97
Table 21: CELLULARCONFIG Parameters ...................................................................................................100
Table 22: Tx, DTR and RTS Availability ........................................................................................................110
Table 23: GNSS Signal Default and Configurability.......................................................................................112
Table 24: Signal Type (DATADECODESIGNAL)...........................................................................................113
Table 25: Reference Ellipsoid Constants .......................................................................................................116
Table 26: Datum Transformation Parameters................................................................................................116
Table 27: Signal Type ....................................................................................................................................126
Table 28: DOS Command Enum ...................................................................................................................129
Table 29: User Dynamics...............................................................................................................................132
Table 30: Communications Port Identifiers ....................................................................................................135
Table 31: Clock Type .....................................................................................................................................147
Table 32: Pre-Defined Values for Oscillators .................................................................................................147
Table 33: FIX Parameters ..............................................................................................................................149
Table 34: Fix Types .......................................................................................................................................150
Table 35: GLONASS L2 Code Type ..............................................................................................................152
Table 36: Signals Tracked – Channel Configuration and L2type Option .......................................................152
Table 37: GPS L2 Code Type ........................................................................................................................153
Table 38: Signals Tracked – Channel Configuration and L2type Option .......................................................154
Table 39: VARF Output Ranges ....................................................................................................................156
Table 40: FRESET Target .............................................................................................................................158
Table 41: Seeding Mode ................................................................................................................................172
Table 42: Serial Port Interface Modes ...........................................................................................................178
Table 43: PMUX Pin Description ..................................................................................................................181
Table 44: LED ID ...........................................................................................................................................187
Table 45: GNSS1/GNSS2 LED Patterns .......................................................................................................188
Table 46: SATTRACK1/SATRACK2 LED default values...............................................................................188
Table 47: DATALOG LED default values.......................................................................................................188
Table 48: GNSS1/GNSS2 LED default values ..............................................................................................189
Table 49: NMEA Talkers ................................................................................................................................209
Table 50: Profile Option .................................................................................................................................232
Table 51: DGPS Type ....................................................................................................................................234

OEM6 Firmware Reference Manual Rev 12

12

Table 52: RAIM Mode Types .........................................................................................................................240
Table 53: Dynamics Mode .............................................................................................................................248
Table 54: Network RTK Mode........................................................................................................................253
Table 55: RTK Quality Mode..........................................................................................................................254
Table 56: System Types ................................................................................................................................263
Table 57: SBAS Time Out Mode....................................................................................................................265
Table 58: COM Port Identifiers ......................................................................................................................273
Table 59: Parity ..............................................................................................................................................273
Table 60: Handshaking ..................................................................................................................................273
Table 61: Ports Supporting RS-422 ...............................................................................................................274
Table 62: Selection Type ...............................................................................................................................279
Table 63: Ionospheric Correction Models ......................................................................................................284
Table 64: Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex) ..............................292
Table 65: System Used for Timing.................................................................................................................296
Table 66: Available Set Up Commands .........................................................................................................304
Table 67: STEADYLINE Mode.......................................................................................................................310
Table 68: TrackSV Command Condition .......................................................................................................316
Table 69: User Accuracy Level Supplemental Position Types and NMEA Equivalents.................................319
Table 70: UTM Zone Commands...................................................................................................................336
Table 71: WIFIAPCONFIG Parameters and Values ......................................................................................338
Table 72: Legal Combination of Authentication, Encryption, Protocol ...........................................................339
Table 73: WIFIAPCONFIG Default Parameters for AP 1...............................................................................339
Table 74: WIFICLICONFIG Parameters ........................................................................................................341
Table 75: WIFICLICONTROL Parameters.....................................................................................................343
Table 76: WIFICONFIG Parameters ..............................................................................................................345
Table 77: Log Type Triggers ..........................................................................................................................346
Table 78: OEM6 Logs Sorted by Function .....................................................................................................348
Table 79: OEM6 Logs in Alphabetical Order .................................................................................................355
Table 80: OEM6 Logs by Message ID ...........................................................................................................364
Table 81: Position Averaging Status ..............................................................................................................385
Table 82: Data Source ...................................................................................................................................392
Table 83: Solution Status ...............................................................................................................................395
Table 84: Position or Velocity Type ...............................................................................................................396
Table 85: BESTPOS Galileo and BeiDou Signal-Used Mask ........................................................................398
Table 86: BESTPOS GPS and GLONASS Signal-Used Mask ......................................................................398
Table 87: Extended Solution Status...............................................................................................................398
Table 88: Supplemental Position Types and NMEA Equivalents...................................................................399
Table 89: Observation Statuses.....................................................................................................................401
Table 90: BESTSATS GPS Signal Mask .......................................................................................................402
Table 91: BESTSATS GLONASS Signal Mask .............................................................................................402
Table 92: BESTSATS Galileo Signal Mask ...................................................................................................402
Table 93: BESTSATS BeiDou Signal Mask ...................................................................................................402
Table 94: The WGS84 ECEF Coordinate System .........................................................................................409
Table 95: Bluetooth Status.............................................................................................................................411
Table 96: Modem Status ................................................................................................................................416
Table 97: Network Status...............................................................................................................................416
Table 98: CHANCONFIGLIST Signal Type ...................................................................................................418
Table 99: Clock Model Status ........................................................................................................................421
Table 100: Clock Source................................................................................................................................423
Table 101: Steering State ..............................................................................................................................423
Table 102: Kp UTC Leap Second Descriptions .............................................................................................448
Table 103: GLONASS Ephemeris Flags Coding ...........................................................................................451
Table 104: GPS Quality Indicators.................................................................................................................461
Table 105: Position Precision of NMEA Logs ................................................................................................468
Table 106: NMEA Positioning System Mode Indicator ..................................................................................479
OEM6 Firmware Reference Manual Rev 12

13

Table 107:
Table 108:
Table 109:
Table 110:
Table 111:
Table 112:
Table 113:
Table 114:
Table 115:
Table 116:
Table 117:
Table 118:
Table 119:
Table 120:
Table 121:
Table 122:
Table 123:
Table 124:
Table 125:
Table 126:
Table 127:
Table 128:
Table 129:
Table 130:
Table 131:
Table 132:
Table 133:
Table 134:
Table 135:
Table 136:
Table 137:
Table 138:
Table 139:
Table 140:
Table 141:
Table 142:
Table 143:
Table 144:
Table 145:
Table 146:
Table 147:
Table 148:
Table 149:
Table 150:
Table 151:
Table 152:
Table 153:
Table 154:
Table 155:
Table 156:
Table 157:
Table 158:
Table 159:
Table 160:
Table 161:

URA Variance ..............................................................................................................................484
Solution Source............................................................................................................................488
Satellite System ...........................................................................................................................494
HWMONITOR Status Table .........................................................................................................496
L-Band Subscription Type............................................................................................................505
HP Subscription Mode .................................................................................................................505
L-Band Signal Tracking Status ....................................................................................................507
OmniSTAR HP/XP/G2 Additional Status Word............................................................................508
OmniSTAR HP/XP/G2 Status Word ............................................................................................508
OmniSTAR VBS Status Word ......................................................................................................509
Feature Status Enum ...................................................................................................................529
Feature Enum ..............................................................................................................................530
Navigation Data Type ..................................................................................................................533
Position Type ...............................................................................................................................557
Status Word .................................................................................................................................561
Integrity Status .............................................................................................................................585
Protection Level Status ................................................................................................................585
Channel Tracking Example ..........................................................................................................589
Channel Tracking Status..............................................................................................................589
Tracking State ..............................................................................................................................591
Correlator Type ............................................................................................................................591
Range Record Format (RANGECMP only)..................................................................................593
Satellite Block of the Range Record Format (RANGECMP2 only) ..............................................596
Signal Block of the Range Record Format (RANGECMP2 only) .................................................597
Std Dev PSR Scaling ...................................................................................................................598
Std Dev ADR Scaling ...................................................................................................................598
L1/E1/B1 Scaling .........................................................................................................................599
Signal Type (only in RANGECMP2).............................................................................................600
Base Station Status .....................................................................................................................615
Station Type .................................................................................................................................615
MSM type descriptions.................................................................................................................629
Supported MSM messages..........................................................................................................629
Receiver Error ..............................................................................................................................645
Receiver Status............................................................................................................................646
Auxiliary 1 Status .........................................................................................................................647
Auxiliary 2 Status .........................................................................................................................648
Auxiliary 3 Status .........................................................................................................................649
Status Word .................................................................................................................................652
Event Type ...................................................................................................................................652
Evaluation of UDREI ....................................................................................................................664
Evaluation of UDREI ....................................................................................................................692
SBAS Subsystem Types ..............................................................................................................702
SoftLoad Status Type ..................................................................................................................705
TerraStar Subscription Permissions Field....................................................................................712
TerraStar Subscription Type ........................................................................................................712
TerraStar Region Restriction .......................................................................................................712
TerraStar Decoder Data Synchronization State...........................................................................713
TerraStar Local Area Status ........................................................................................................714
TerraStar Geogating Status .........................................................................................................714
Veripos Operating Mode ..............................................................................................................721
Veripos Subscription Details Mask ..............................................................................................721
Veripos Decoder Data Synchronization State..............................................................................722
Component Types........................................................................................................................724
VERSION Log Field Formats .......................................................................................................725
Wi-Fi AP States............................................................................................................................727

OEM6 Firmware Reference Manual Rev 12

14

Table 162:
Table 163:
Table 164:
Table 165:
Table 166:
Table 167:

Wi-Fi BSS Types..........................................................................................................................729
Non-HT Rates ..............................................................................................................................729
Wi-Fi Client State .........................................................................................................................732
Wi-Fi Network ID ..........................................................................................................................733
Wi-Fi Client Error .........................................................................................................................734
Response Messages ...................................................................................................................735

OEM6 Firmware Reference Manual Rev 12

15

Customer Support
NovAtel Knowledge Base
If you have a technical issue, visit the NovAtel Support page at www.novatel.com/support.Through the
Support page, you can contact Customer Support, find papers and tutorials or download current manuals and
the latest firmware.

Before Contacting Customer Support
Before you contact NovAtel Customer Support about a software problem, perform the following steps:
1. Log the following data to a file on your computer for 15 minutes:
RXSTATUSB onchanged
RAWEPHEMB onchanged
RANGEB ontime 1
BESTPOSB ontime 1
RXCONFIGA once
VERSIONA once
2. Send the data file to NovAtel Customer Support: support@novatel.com
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
The FRESET command will erase all user settings. You should know your configuration (by
requesting the RXCONFIGA log) and be able to reconfigure the receiver before you send the
FRESET command.
If you are having a hardware problem, send a list of the troubleshooting steps taken and the results.

Contact Information
Log a support request with NovAtel Customer Support using one of the following methods:
Log a Case and Search Knowledge:
Website: www.novatel.com/support
Log a Case, Search Knowledge and View Your Case History: (login access required)
Web Portal: https://novatelsupport.force.com/community/login
E-mail:
support@novatel.com
Telephone:
U.S. and Canada:
International:

1-800-NOVATEL (1-800-668-2835)
+1-403-295-4900

OEM6 Firmware Reference Manual Rev 12

16

Foreword
Thank you for purchasing your NovAtel product. Your receiver includes companion documents to this manual
with information on the hardware operation. Afterwards, this document will be your primary reference guide
for commands and logs.
This manual describes each command and log the OEM6 family of receivers are capable of accepting or
generating. Sufficient detail is provided so you can understand the purpose, syntax and structure of each
command or log. You will also be able to communicate with the receiver, enabling you to effectively use and
write custom interfacing software for specific applications.

Related Documents and Information
OEM6 products include the following:
•

Satellite Based Augmentation System (SBAS) signal functionality

•

Support for all current and upcoming GNSS constellations

•

L-Band capability including TerraStar licensed based corrections

•

National Marine Electronics Association (NMEA) standards, a protocol used by GNSS receivers to
transmit data

•

Differential Global Positioning System (DGPS)

•

Real-Time Kinematic (RTK)

For more information on these components, please refer the Support page on our website at
www.novatel.com/support. For introductory information on GNSS technology, refer to our An Introduction to
GNSS book found at www.novatel.com/an-introduction-to-gnss/
This manual does not address any of the receiver hardware attributes or installation information. Consult the
OEM6 Family Installation and Operation Manual (OM-20000128) for information about these topics.
Furthermore, should you encounter any functional, operational or interfacing difficulties with the receiver,
refer to the NovAtel web site for warranty and support information.

Conventions
The following conventions are used in this manual:
Denotes information to supplement or clarify the accompanying text.

Caution that a certain action, operation or configuration may result in incorrect or improper use
of the product.

Warning that a certain action, operation or configuration may result in regulatory
noncompliance, safety issues or equipment damage.

OEM6 Firmware Reference Manual Rev 12

17

Foreword

Logs and Commands Defaults and Structure
•

The factory defaults for commands are shown in Section 2.3, Factory Defaults on page 37. Each
factory default is also shown after the syntax but before the example of each command description.

•

The letter H in the Binary Byte or Binary Offset columns of the commands and logs tables represents
the header length for that command or log, see Section 1.1.3, Binary on page 22.

•

The number following 0x is a hexadecimal number.

•

Default values shown in command tables indicate the assumed values when optional parameters
have been omitted. Default values do not imply the factory default settings, see Section 2.3, Factory
Defaults on page 37 for a list of factory default settings.

•

Parameters surrounded by [ and ] are optional in a command or are required for only some instances
of the command depending on the values of other parameters.

•

Text displayed between < and > indicates the entry of a keystroke in the case of the command or an
automatic entry in the case of carriage return  and line feed  in data output.

•

In tables where no values are given they are assumed to be reserved for future use.

•

Status words in ASCII logs are output as hexadecimal numbers and must be converted to binary
format (and in some cases then also to decimal) to parse the fields because they are not fixed in 4bits boundary. For an example of this type of conversion, see the RANGE log, Table 125, Channel
Tracking Status on page 589.

•

Conversions and their binary or decimal results are always read from right to left. For a complete list
of hexadecimal, binary and decimal equivalents, refer to the Unit Conversion information available on
our website at www.novatel.com/support/search/.

•

ASCII log examples may be split over several lines for readability. In reality, only a single [CR][LF]
pair is transmitted at the end of an ASCII log.

You can download the most up-to-date version of this manual along with any addendums from the Support
section of the NovAtel website.

Prerequisites
As this reference manual is focused on the OEM6 family commands and logging protocol, it is necessary to
ensure the receiver has been properly installed and powered up according to the instructions outlined in the
companion OEM6 Family Installation and Operation User Manual (OM-20000128) for OEM6 cards and the
FlexPak6 enclosures and/or the ProPak6 User Manual (OM-20000148) before proceeding.

OEM6 Firmware Reference Manual Rev 12

18

Chapter 1
1.1

Messages

Message Types
The receiver handles incoming and outgoing NovAtel data in three different message formats: Abbreviated
ASCII, ASCII and binary. This allows for a great deal of versatility in the way the OEM6 family of receivers
can be used. All NovAtel commands and logs can be entered, transmitted, output or received in any of the
three formats. The receiver also supports RTCA, RTCMV3, RTCM, CMR, CMRPLUS and NMEA format
messaging. For more 12information about message logs, refer to the contents of Chapters 2 and 3.
When entering an ASCII or abbreviated ASCII command to request an output log, the message type is
indicated by the character appended to the end of the message name. ‘A’ indicates the message is ASCII
and ‘B’ indicates binary. No character means the message is Abbreviated ASCII. When issuing binary
commands, the output message type is dependent on the bit format in the message’s binary header (refer to
Section 1.1.3, Binary on page 22).
Table 1, Field Types on page 19 below, describes the field types used in the description of messages.
Table 1: Field Types
Binary
Size
(bytes)

Description

Char

1

The char type is an 8-bit integer in the range -128 to +127. This integer value may be the
ASCII code corresponding to the specified character. In ASCII or Abbreviated ASCII this
comes out as an actual character

UChar

1

The uchar type is an 8-bit unsigned integer. Values are in the range from +0 to +255. In
ASCII or Abbreviated ASCII this comes out as a number

Short

2

The short type is 16-bit integer in the range -32768 to +32767

UShort

2

The same as short except it is not signed. Values are in the range from +0 to +65535

Long

4

The long type is 32-bit integer in the range -2147483648 to +2147483647

ULong

4

The same as long except it is not signed. Values are in the range from +0 to +4294967295

Double

8

The double type contains 64-bits: 1 for sign, 11 for the exponent and 52 for the mantissa.
Its range is ±1.7E308 with at least 15 digits of precision. This is IEEE 754

Float

4

The float type contains 32-bits: 1 for the sign, 8 for the exponent and 23 for the mantissa.
Its range is ±3.4E38 with at least 7 digits of precision. This is IEEE 754

Enum

4

A 4-byte enumerated type beginning at zero (an unsigned long). In binary, the enumerated
value is output. In ASCII or Abbreviated ASCII, the enumeration label is spelled out

GPSec

4

This type has two separate formats dependent on whether you requested a binary or an
ASCII format output. For binary, the output is in milliseconds and is a long type. For ASCII,
the output is in seconds and is a float type

Hex

n

Hex is a packed, fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII
is converted into 2 character hexadecimal pairs

String

n

String is a variable length array of bytes that is null-terminated in the binary case and
additional bytes of padding are added to maintain 4-byte alignment. The maximum byte
length for each String field is shown in the row in the log or command tables

Type

OEM6 Firmware Reference Manual Rev 12

19

Messages

Chapter 1
Figure 1: Byte Arrangements

Figure 1, Byte Arrangements on page 20 shows the arrangement of bytes, within each field
type, when used by IBM PC computers. All data sent to or from the OEM6 family of receivers,
however, is read least significant bit (LSB) first, opposite to what is shown in Figure 1, Byte
Arrangements on page 20. Data is then stored in the receiver LSB first. For example, in char
type data, the LSB is bit 0 and the most significant bit (MSB) is bit 7. See Table 125, Channel
Tracking Status on page 589 for a more detailed example.

1.1.1

ASCII

ASCII messages are readable by both the user and a computer. The structures of all ASCII messages follow
the general conventions as noted here:
1. The lead code identifier for each record is '#'.
2. Each log or command is of variable length depending on amount of data and formats.
3. All data fields are delimited by a comma ',' with two exceptions:
•

The first exception is the last header field which is followed by a ‘;’ to denote the start of the data
message.

•

The second exception is the last data field, which is followed by a * to indicate end of message data.

4. Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination
using the carriage return and line feed characters.
For example:
*1234ABCD[CR][LF]. This value is a 32-bit CRC of all bytes in the log, excluding the '#' identifier and the
asterisk preceding the eight CRC digits.
See Section 1.7, 32-Bit CRC on page 34 for the algorithm used to generate the CRC.
5. The receiver only accepts the following ASCII characters.
- characters between space (ASCII value 32) and '~' (ASCII value 126) inclusive,
- vertical tab (ASCII value 9), line feed (ASCII value 10), horizontal tab (ASCII value 11) and
carriage return (ASCII value 13)
Other values are discarded and can lead to unexpected results.
OEM6 Firmware Reference Manual Rev 12

20

Messages

Chapter 1

6. An ASCII string is one field and is surrounded by double quotation marks.
For example:
“ASCII string”. If separators are surrounded by quotation marks then the string is still one field and the
separator will be ignored (example, “xxx,xxx” is one field). Double quotation marks within a string are not
allowed.
7. If the receiver detects an error parsing an input message, it returns an error response message. See
Chapter 4, Responses on page 735 for a list of response messages from the receiver.
Message Structure:
header;

data field...,

data field...,

data field...

*xxxxxxxx

[CR][LF]

The ASCII message header structure is described in Table 2, ASCII Message Header Structure.
Table 2: ASCII Message Header Structure
Field Field Name

Field
Type

Description

Ignored
on Input

1

Sync

Char

Sync character. The ASCII message is always preceded by a single ‘#’
symbol

N

2

Message

Char

The ASCII name of the log or command (lists are in the tables in
Command Reference on page 37 and Log Reference on page 348)

N

Y

3

Port

Char

The name of the port from which the log was generated. The string is
made up of the port name followed by an _x where x is a number from 1
to 31 denoting the virtual address of the port. If no virtual address is
indicated, it is assumed to be address 0

4

Sequence # Long

Used for multiple related logs. It is a number that counts down from N-1
to 0, where 0 means it is the last one of the set. Most logs only come out
one at a time in which case this number is 0

N

5

% Idle Time

The minimum percentage of time the processor is idle, calculated once
per second

Y

6

Time Status Enum

The value indicates the quality of the GPS reference time (see Table 8,
GPS Reference Time Status on page 32)

Y

7

Week

Ulong

GPS reference week number

Y

8

Seconds

GPSec

Seconds from the beginning of the GPS reference week; accurate to the
millisecond level

Y

9

Receiver
Status

Ulong

An eight digit hexadecimal number representing the status of various
hardware and software components of the receiver (see Table 140,
Receiver Status on page 646)

Y

10

Reserved

Ulong

Reserved for internal use.

Y

11

Receiver
Ulong
S/W Version

A value (0 - 65535) representing the receiver software build number

Y

12

;

The character indicates the end of the header

N

Float

Char

Example Log:
#RAWEPHEMA,COM1,0,35.0,SATTIME,1364,496230.000,00100000,97b7,2310;
30,1364,496800,8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee,8b0
550a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a,8b0550a18a2effc2f8006
1c2fffc267cd09f1d5034d3537affa28b6ff0eb*7a22f279
OEM6 Firmware Reference Manual Rev 12

21

Messages

1.1.2

Chapter 1

Abbreviated ASCII

This message format is designed to make entering and viewing commands and logs simple. The data is
represented as simple ASCII characters, separated by spaces or commas and arranged in an easy to
understand format. There is also no 32-bit CRC for error detection because it is meant for viewing by the
user.
Example Command:
log com1 loglist
Resultant Log:
=32 may be used) (lower 8-bits only) b

1

7

Nc

8

Message
Length

Ushort

The length in bytes of the body of the message, not
including the header nor the CRC

2

8

N

9

Sequence

Used for multiple related logs. It is a number that counts
down from N-1 to 0 where N is the number of related logs
Ushort
and 0 means it is the last one of the set. Most logs only
come out one at a time in which case this number is 0

2

10

N

10

Idle Time

Uchar

Time the processor is idle, calculated once per second.
Take the time (0 - 200) and divide by two to give the
percentage of time (0 - 100%)

1

12

Y

11

Time Status

Enum

Indicates the quality of the GPS reference time (see
Table 8, GPS Reference Time Status on page 32).

1d

13

Ne

12

Week

Ushort GPS reference week number

2

14

N

13

ms

GPSec

Milliseconds from the beginning of the GPS reference
week

4

16

N

14

Receiver
Status

Ulong

32-bits representing the status of various hardware and
software components of the receiver (see Table 140,
Receiver Status on page 646)

4

20

Y

15

Reserved

Ushort Reserved for internal use

2

24

Y

OEM6 Firmware Reference Manual Rev 12

23

Messages

Chapter 1

Field Field Name
16

Field
Type

Binary Binary Ignored
Bytes Offset on Input

Description

Receiver
A value (0 - 65535) representing the receiver software
Ushort
S/W Version
build number

2

26

Y

a. Bits 0-4 are used to indicate the measurement source. For the OEM617D and FlexPak6D receivers, if bit 0 is set, that
means the log is from the secondary antenna.
b. The 8-bit size means you will only see 0xA0 to 0xBF when the top bits are dropped from a port value greater than 8-bits.
For example, ASCII port USB1 will be seen as 0xA0 in the binary output.
c. Recommended value is THISPORT (binary 192).
d. This ENUM is not 4-bytes long but, as indicated in the table, is only 1-byte.
e. Fields 12 and 13 (Week and ms) are ignored if Field 11 (Time Status) is invalid. In this case, the current receiver time is
used. The recommended values for the three time fields are 0, 0, 0.

Table 4: Detailed Port Identifier
ASCII Port Name

Hex Port Decimal Port
Value
Value a

Description

NO_PORTS

0

0

No ports specified

COM1_ALL

1

1

All virtual ports for COM1

COM2_ALL

2

2

All virtual ports for COM2

COM3_ALL

3

3

All virtual ports for COM3

THISPORT_ALL

6

6

All virtual ports for the current port

FILE_ALL

7

7

All virtual ports for logging to fileb

ALL_PORTS

8

8

All virtual ports for all ports

XCOM1_ALL

9

9

All virtual ports for XCOM1

XCOM2_ALL

a

10

All virtual ports for XCOM2

USB1_ALL

d

13

All virtual ports for USB1

USB2_ALL

e

14

All virtual ports for USB2

USB3_ALL

f

15

All virtual ports for USB3

AUX_ALL

10

16

All virtual ports for the AUXc

XCOM3_ALL

11

17

All virtual XCOM3

COM4_ALL

13

19

All virtual ports for COM4 b

ETH1_ALL

14

20

All virtual ports for ETH1

IMU_ALL

15

21

All virtual ports for IMU

ICOM1_ALL

17

23

All virtual ports for ICOM1

ICOM2_ALL

18

24

All virtual ports for ICOM2

...

OEM6 Firmware Reference Manual Rev 12

24

Messages

Chapter 1

ASCII Port Name

Hex Port Decimal Port
Value
Value a

Description

ICOM3_ALL

19

25

All virtual ports for ICOM3

NCOM1_ALL

1a

26

All virtual ports for NCOM1

NCOM2_ALL

1b

27

All virtual ports for NCOM2

NCOM3_ALL

1c

28

All virtual ports for NCOM3

WCOM1_ALL

1e

30

All virtual ports for WCOM1

COM1

20

32

COM1, virtual port 0

COM1_1

21

33

COM1, virtual port 1

COM1_31

3f

63

COM1, virtual port 31

COM2

40

64

COM2, virtual port 0

COM2_31

5f

95

COM2, virtual port 31

COM3

60

96

COM3, virtual port 0

COM3_31

7f

127

COM3, virtual port 31

SPECIAL

a0

160

Unknown port, virtual port 0

SPECIAL_31

bf

191

Unknown port, virtual port 31

THISPORT

c0

192

Current COM port, virtual port 0

THISPORT_31

df

223

Current COM port, virtual port 31

FILE

e0

224

Virtual port 0 for logging to file b

FILE_31

ff

255

Virtual port 31 for logging to file b

XCOM1

1a0

416

XCOM1, virtual port 0

XCOM1_1

1a1

417

XCOM1, virtual port 1

XCOM1_31

1bf

447

XCOM1, virtual port 31

XCOM2

2a0

672

XCOM2, virtual port 0

...

...

...

...

...

...

...

...

OEM6 Firmware Reference Manual Rev 12

25

Messages

Chapter 1

ASCII Port Name

Hex Port Decimal Port
Value
Value a

XCOM2_1

Description

2a1

673

XCOM2, virtual port 1

XCOM2_31

2bf

703

XCOM2, virtual port 31

USB1

5a0

1440

USB1, virtual port 0

USB1_1

5a1

1441

USB1, virtual port 1

USB1_31

5bf

1471

USB1, virtual port 31

USB2

6a0

1696

USB2, virtual port 0

USB2_31

6bf

1727

USB2, virtual port 31

USB3

7a0

1952

USB3, virtual port 0

7bf

1983

USB port 3, virtual port 31

8a0c

2208c

AUX port, virtual port 0 c

AUX_31c

8bfc

2239c

AUX port, virtual port 31 c

XCOM3

9a0

2464

XCOM3, virtual port 0

XCOM3_31

9bf

2495

XCOM3, virtual port 31

COM4

ba0

2976

COM4, virtual port 0 b

COM4_31

bbf

3007

COM4, virtual port 31 b

ICOM1

fa0

4000

ICOM1, virtual port 0

PORT_ADDR_ETH1

ca0

3232

ETH1, virtual port 0

cbf

3263

ETH1, virtual port 31

da0

3488

IMU, virtual port 0

dbf

3519

IMU, virtual port 31

...

...

...

...
USB3_31
AUXc
...

...

...

...
PORT_ADDR_ETH1_31
...
PORT_ADDR_IMU
...
PORT_ADDR_IMU_31

OEM6 Firmware Reference Manual Rev 12

26

Messages

Chapter 1

ASCII Port Name

Hex Port Decimal Port
Value
Value a

Description

...
ICOM1_31

fbf

4031

ICOM1, virtual port 31

10a0

4256

ICOM2, virtual port 0

ICOM2_31

10bf

4287

ICOM2, virtual port 31

ICOM3

11a0

4512

ICOM3, virtual port 0

ICOM3_31

11bf

4543

ICOM3, virtual port 31

NCOM1

12a0

4768

NCOM1, virtual port 0

NCOM1_31

12bf

4799

NCOM1, virtual port 31

NCOM2

13a0

5024

NCOM2, virtual port 0

NCOM2_31

13bf

5055

NCOM2, virtual port 31

NCOM3

14a0

5280

NCOM3, virtual port 0

16a0

5792

WCOM1, virtual port 0

14bf

5311

NCOM3, virtual port 31

16bf

5823

WCOM1, virtual port 31

COM5_ALL

16c0

5824

All virtual ports for COM5 b

COM6_ALL

16c1

5825

All virtual ports for COM6 b

BT1_ALL

16c2

5826

All virtual ports for the Bluetooth device b

COM7_ALL

16c3

5827

All virtual ports for COM7

COM8_ALL

16c4

5828

All virtual ports for COM8

COM9_ALL

16c5

5829

All virtual ports for COM9

COM10_ALL

16c6

5830

All virtual ports for COM10

COM5

17a0

6048

COM5, virtual port 0 b

ICOM2
...

...

...

...

...
PORT_ADDR_WCOM1
...
NCOM3_31
...
PORT_ADDR_WCOM1_31
...

OEM6 Firmware Reference Manual Rev 12

27

Messages

Chapter 1

ASCII Port Name

Hex Port Decimal Port
Value
Value a

Description

...
COM5_31

17bf

6079

COM5, virtual port 31 b

COM6

18a0

6304

COM6, virtual port 0 b

COM6_31

18bf

6335

COM6, virtual port 31 b

BT1

19a0

6560

Bluetooth device, virtual port 0 b

BT1_31

19bf

6591

Bluetooth device, virtual port 31 b

PORT_ADDR_COM7

1aa0

6816

COM7, virtual port 0

PORT_ADDR_COM7_31

1abf

6847

COM7, virtual port 31

PORT_ADDR_COM8

1ba0

7072

COM8, virtual port 0

PORT_ADDR_COM8_31

1bbf

7103

COM8, virtual port 31

PORT_ADDR_COM9

1ca0

7328

COM9, virtual port 0

PORT_ADDR_COM9_31

1cbf

7359

COM1, virtual port 31

PORT_ADDR_COM10

1da0

7584

COM10, virtual port 0

1dbf

7615

COM10, virtual port 31

...

...

...

...

...

...
PORT_ADDR_COM10_31

a. Decimal port values 0 through 16 are only available to the UNLOGALL command (see page 330) and
cannot be used in the UNLOG command (see page 328) or in the binary message header (see Table 3,
Binary Message Header Structure on page 23).
b. These ports are only available on specific products.
c. The AUX port is only available on specific products.

COM1_ALL, COM2_ALL, COM3_ALL, THISPORT_ALL, ALL_PORTS, USB1_ALL,
USB2_ALL, USB3_ALL, AUX_ALL, ICOM1_ALL, ICOM2_ALL, ICOM3_ALL, NCOM1_ALL,
NCOM2_ALL, XCOM1_ALL, XCOM2_ALL, XCOM3_ALL and NCOM3_ALL are only valid for
the UNLOGALL command.

OEM6 Firmware Reference Manual Rev 12

28

Messages

Chapter 1

Table 5, Available Port Types on page 29 provides examples of where each port type might be used.
Table 5: Available Port Types
Port
Type

1.2

Description

Example of where it might be used

AUX

Auxiliary "serial" ports An additional UART serial port available only on certain platforms

BTx

Bluetooth ports

These ports are used to connect over Bluetooth devices, when the
receiver is equipped with a BT device

COMx

Serial Port

UART serial ports. Used when there is a physical RS-232 or RS-422
connection to the receiver

ICOMx

Internet ports

These ports are used when establishing TCP or UDP connections to the
receiver over a network

NCOMx

NTRIP ports

These ports are used when establishing NTRIP connections to the
receiver over a network

USBx

USB "serial" ports

When the receiver is connected to an external host through USB, these
ports are available

WCOMx

Web Server port

Ports used by Web Server applications, for receivers equipped with a
web server

XCOMx

Virtual Port

A "port" not associated with a physical communications port. Normally
used by API applications to request and retrieve logs internally

Responses
By default, if you input a message you get back a response. If desired, the INTERFACEMODE command can
be used to disable response messages (see page 176). The response will be in the exact format you entered
the message (that is, binary input = binary response).

1.2.1

Abbreviated Response

Just the leading '<' followed by the response string, for example:  0; j-- )
{
if ( ulCRC & 1 )
ulCRC = ( ulCRC >> 1 ) ^ CRC32_POLYNOMIAL;
else
ulCRC >>= 1;
}
return ulCRC;
}
/* -------------------------------------------------------------------------Calculates the CRC-32 of a block of data all at once
-------------------------------------------------------------------------- */
unsigned long CalculateBlockCRC32(
unsigned long ulCount,
/* Number of bytes in the data block */
unsigned char *ucBuffer ) /* Data block */
{
unsigned long ulTemp1;
unsigned long ulTemp2;
unsigned long ulCRC = 0;
while ( ulCount-- != 0 )
{
ulTemp1 = ( ulCRC >> 8 ) & 0x00FFFFFFL;
ulTemp2 = CRC32Value( ((int) ulCRC ^ *ucBuffer++ ) & 0xff );
ulCRC = ulTemp1 ^ ulTemp2;
}
return( ulCRC );
}

The NMEA checksum is an XOR of all the bytes (including delimiters such as ',' but excluding
the * and $) in the message output. It is therefore an 8-bit and not a 32-bit checksum.
Not all logs may be available. Every effort is made to ensure examples are correct, however, a checksum
may be created for promptness in publication. In this case it will appear as ‘9999’.
Example:
BESTPOSA and BESTPOSB from an OEM6 family receiver.

OEM6 Firmware Reference Manual Rev 12

34

Messages

Chapter 1

ASCII:
#BESTPOSA,COM1,0,78.0,FINESTEERING,1427,325298.000,00000000,6145,2748;
SOL_COMPUTED,SINGLE,51.11678928753,-114.03886216575,1064.3470,-16.2708,
WGS84,2.3434,1.3043,4.7300,"",0.000,0.000,7,7,0,0,0,06,0,03*9c9a92bb
BINARY:
0xAA,
0xB4,
0xBC,
0xB3,
0x00,
0x00,
0x40,
0x00,

0x44,
0x93,
0x0A,
0xF2,
0x60,
0x00,
0x40,
0x0B,

0x12,
0x05,
0x00,
0x8E,
0x76,
0x00,
0x00,
0x0B,

0x1C 0x2A, 0x00, 0x02, 0x20, 0x48, 0x00, 0x00, 0x00, 0x90,
0xB0, 0xAB, 0xB9, 0x12, 0x00, 0x00, 0x00, 0x00, 0x45, 0x61,
0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x1B, 0x04, 0x50,
0x49, 0x40, 0x16, 0xFA, 0x6B, 0xBE, 0x7C, 0x82, 0x5C, 0xC0,
0x9F, 0x44, 0x9F, 0x90, 0x40, 0xA6, 0x2A, 0x82, 0xC1, 0x3D,
0x12, 0x5A, 0xCB, 0x3F, 0xCD, 0x9E, 0x98, 0x3F, 0xDB, 0x66,
0x30, 0x30, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x06, 0x00, 0x03, 0x42, 0xdc, 0x4c, 0x48

Below is a demonstration of how to generate the CRC from both ASCII and BINARY messages using the
function described above.
When you pass the data into the code that follows, exclude the checksum shown in bold italics
above.
ASCII:
#include 
#include 
void main()
{
char_*i_=_”BESTPOSA,COM2,0,77.5,FINESTEERING,1285,160578.000,00000020,
5941,1164;SOL_COMPUTED,SINGLE,51.11640941570,-114.03830951024,1062.6963,
-16.2712,WGS84,1.6890,1.2564,2.7826,\"\",0.000,0.000,10,10,0,0,0,0,0,0";
unsigned long iLen = strlen(i);
unsigned long CRC = CalculateBlockCRC32(iLen, (unsigned char*)i);
cout << hex << CRC <
#include 
int main()
{
unsigned char buffer[] = {0xAA, 0x44, 0x12, 0x1C, 0x2A, 0x00, 0x02, 0x20,
0x48, 0x00, 0x00, 0x00, 0x90, 0xB4, 0x93, 0x05, 0xB0, 0xAB, 0xB9, 0x12,
0x00, 0x00, 0x00, 0x00, 0x45, 0x61, 0xBC, 0x0A, 0x00, 0x00, 0x00, 0x00,
0x10, 0x00, 0x00, 0x00, 0x1B, 0x04, 0x50, 0xB3, 0xF2, 0x8E, 0x49, 0x40,
0x16, 0xFA, 0x6B, 0xBE, 0x7C, 0x82, 0x5C, 0xC0, 0x00, 0x60, 0x76, 0x9F,
0x44, 0x9F, 0x90, 0x40, 0xA6, 0x2A, 0x82, 0xC1, 0x3D, 0x00, 0x00, 0x00,
0x12, 0x5A, 0xCB, 0x3F, 0xCD, 0x9E, 0x98, 0x3F, 0xDB, 0x66, 0x40, 0x40,
0x00, 0x30, 0x30, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x0B, 0x0B, 0x00, 0x00, 0x00, 0x06, 0x00, 0x03};
unsigned long crc = CalculateBlockCRC32(sizeof(buffer)buffer);
cout << hex << crc <[CR]
Binary Example:
AA44121C 010000C0 20000000 00FF0000 00000000 00000000 00000000 20000000
2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 34D32DC1

2.2

Command Settings
There are several ways to determine the current command settings of the receiver:
1. Request an RXCONFIG log (see page 641). This log provides a listing of all commands issued to the
receiver and their parameter settings. It also provides the most complete information.
2. For some specific commands, logs are available to indicate all their parameter settings. The LOGLIST
log (see page 513) shows all active logs in the receiver beginning with the LOG command. The
COMCONFIG log (see page 108) shows both the COM and INTERFACEMODE command parameter
settings for all serial ports.
3. Request a log of the specific command of interest to show the parameters last entered for that command.
The format of the log produced is exactly the same as the format of the specific command with updated
header information.
Requesting a log for specific command is useful for most commands. For commands repeated
with different parameters (for example, SERIALCONFIG and LOG), only the most recent set of
parameters used is shown. To view all sets of parameters, try method 1 or 2 above.
Abbreviated ASCII Example:
log fix

Factory Default:
AIRPLANEMODE disable
ASCII Example:
AIRPLANEMODE enable
Field

1

ASCII
Value

Field Type

AIRPLANEMODE
header

Binary
Value

-

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Binary Binary
Bytes Offset

H

0

4

H

Disables Airplane mode.
DISABLE 0
2

EnableEnum

The Radio transmitters are turned on if
the interface is configured. (Default)
Enables Airplane mode.

ENABLE

1

OEM6 Firmware Reference Manual Rev 12

Enum

The Radio transmitters are turned off,
regardless of their individual
configurations.

63

Commands

2.4.3

Chapter 2

ALIGNAUTOMATION
Configures ALIGN plug-and-play feature

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command configures the ALIGN plug and play feature. Use this command to enable/disable the plug
and play feature, to set the rover COM port to which master is connected, to set the baud rate for
communication, to set the intended operation rate using this command and to enable/disable sending the
HEADINGEXTB/HEADINGEXT2B back to the Master receiver. Refer to the NovAtel application note APN048 for details on HEADINGEXT (available on our website at www.novatel.com/support/).
On issuing this command at the ALIGN Rover, the Rover will automatically sync with the Master and
configure it to send corrections at the specified baud rate and specified data rate.
This command should only be issued at ALIGN Rover.

Message ID:

1323

Abbreviated ASCII Syntax:
ALIGNAUTOMATION option [comport] [baudrate] [datarate] [headingextboption]
Factory Default:
ALIGNAUTOMATION disable
Example:
ALIGNAUTOMATION enable com2 230400 10 ON
Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Enable or disable the plug-andplay feature

Enum

4

H

comport

COM1, COM2 or
COM3

Rover COM port to which master is
connected (default= COM2)
Enum
(Table 58, COM Port Identifiers on
page 273)

4

H+4

4

baudrate

9600, 19200,
38400, 57600,
115200, 230400,
460800 or 921600

Intended baud rate for data
transmission (default=230400)

Ulong

4

H+8

5

datarate

1, 2, 4, 5, 10 or
20 Hz

Rate at which heading output is
required (default=10 Hz)

Ulong

4

H+12

6

headingextboption

ON or OFF

Enable or disable sending
HEADINGEXTB/HEADINGEXT2B Enum
back to the Master ((default=ON)

4

H+16

Field

ASCII
Value

Field Type

1

ALIGNAUTOMATION
header

2

option

3

Binary
Value

-

ENABLE

1

DISABLE

0

OEM6 Firmware Reference Manual Rev 12

Description

64

Commands

2.4.4

Chapter 2

ANTENNAPOWER
Controls power to the antenna

OEM Platform:

628, 638, FlexPak6, ProPak6

This command enables or disables the supply of electrical power from the internal power source of the
receiver to the Low Noise Amplifier (LNA) of an active antenna. Refer to the OEM6 Family Installation and
Operation User Manual (OM-20000128) for further information about supplying power to the antenna.
There are several bits in the receiver status that pertain to the antenna (see Table 140, Receiver Status on
page 646). These bits indicate whether the antenna is powered (internally or externally) and whether it is
open circuited or short circuited.
Message ID:

98

Abbreviated ASCII Syntax:
ANTENNAPOWER switch
Factory Default:
ANTENNAPOWER ON
ASCII Examples:
ANTENNAPOWER on
ANTENNAPOWER off
ANTENNAPOWER on3v3
For the OEM628 receiver, it is possible to supply power to the LNA of an active antenna either
from the antenna port of the receiver itself or from an external source. The internal antenna
power supply of the receiver can produce 5 VDC +/-5% at up to 100 mA. This meets the needs
of any of NovAtel’s dual-frequency GNSS antennas, so, in most cases, an additional LNA
power supply is not required.

Field

1

2

ASCII
Value

Field Type

Description

Format

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

OFF

0

Disables antenna power

ON

1

Enables antenna power (5V)

ON3V3

2

Enables antenna power (3V)

ANTENNAPOWER
header

switch

Binary
Value

OEM6 Firmware Reference Manual Rev 12

Enum

Binary Binary
Bytes Offset

H

0

4

H

65

Commands

2.4.5

Chapter 2

APPLICATION
Starts/stops the application

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to start, stop or remove the user application.
Message ID:

413

Abbreviated ASCII Syntax:
APPLICATION command [parameter] [priority] [stacksize]
Factory Default:
APPLICATION start
ASCII Examples:
APPLICATION start
APPLICATION stop
APPLICATION remove
Field

1

2

3

ASCII
Value

Field Type

Application
header

Command

Parameter

Binary
Value

Description

Format

-

-

This field contains the command name or
the message header depending on whether
the command is abbreviated ASCII, ASCII
or binary, respectively

STOP

0

Stops application

START

1

Starts application

REMOVE 2

Removes application

0-

When starting the application, provide this
value as a parameter to the application
(default=0)

Binary Binary
Bytes Offset

H

0

Enum

4

H

Ulong

4

H+4

0=highest valid priority
21=lowest valid priority
4

Priority

0-

When starting the application, this value
sets the application priority (default=1)

Long

4

H+8

5

Stack size

0-

When starting the application, this value
sets the application stack size of the initial
task (default=1000)

Long

4

H+12

Refer to the OEM6 Family Application Programming Interface (API) User Guide
(OM-20000140) for details about creating, loading and running the application. Go to
www.novatel.com/support and contact a representative to acquire this manual.

OEM6 Firmware Reference Manual Rev 12

66

Commands

2.4.6

Chapter 2

ASSIGN
Assigns a channel to a PRN

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

1. The ASSIGN command should only be used by advanced users.
2. Assigning SV channel sets the forced assignment bit in the channel tracking status field
which is reported in the RANGE and TRACKSTAT logs.
3. Assigning a PRN to a SV channel does not remove the PRN from the search space of the
automatic searcher; only the SV channel is removed (that is, the searcher may search and
lock onto the same PRN on another channel). The automatic searcher only searches for
PRNs 1 to 32 for GPS channels, PRNs 38 to 61 for GLONASS (where available), PRNs 136 for Galileo (where available), PRNs 120 to 138, 183-187 for SBAS channels and PRNs
1-30 for BeiDou.
4. GLONASS SVs cannot be assigned if there is no information on GLONASS frequencies
and matching slot numbers.
This command may be used to aid in the initial acquisition of a satellite by manually overriding the automatic
satellite/channel assignment and reacquisition processes. The command specifies that the indicated tracking
channel search for a specified satellite, at a specified Doppler frequency, within a specified Doppler window.
The instruction remains in effect for the specified SV channel and PRN, even if the assigned satellite
subsequently sets. If the satellite Doppler offset of the assigned SV channel exceeds that specified by the
window parameter of the ASSIGN command, the satellite may never be acquired or reacquired. If a PRN has
been assigned to a channel and the channel is currently tracking that satellite, when the channel is set to
AUTO tracking, the channel immediately idles and returns to automatic mode.
To cancel the effects of ASSIGN, issue one of the following:
•

The ASSIGN command with the state set to AUTO

•

The UNASSIGN command (see page 321)

•

The UNASSIGNALL command (see page 322)

These immediately return SV channel control to the automatic search engine.
Table 12: Channel State
Binary

ASCII

Description

0

IDLE

Set the SV channel to not track any satellites

1

ACTIVEa

Set the SV channel active (default)

2

AUTO

Tell the receiver to automatically assign PRN numbers to channels

a. A PRN number is required when using the ACTIVE channel state in this command.

Message ID:

27

Abbreviated ASCII Syntax:
ASSIGN channel [state] [prn [Doppler [Doppler window]]]
ASCII Example 1:
ASSIGN 0 ACTIVE 29 0 2000

OEM6 Firmware Reference Manual Rev 12

67

Commands

Chapter 2

In example 1, the first SV channel is searching for satellite PRN 29 in a range from -2000 Hz to 2000 Hz until
the satellite signal is detected.
ASCII Example 2:
ASSIGN 11 28 -250 0
SV channel 11 is searching for satellite PRN 28 at an offset of -250 Hz only.
ASCII Example 3:
ASSIGN 11 IDLE
SV channel 11 is idled and does not attempt to search for satellites.
OEM6 cards have 4 channels available for SBAS. They automatically use the healthy GEO
satellites with the highest elevations. Use the ASSIGN command to enter a GEO PRN manually.
For the OEM617D and FlexPak6D receivers, when using the ASSIGN command for SV
channels on the primary antenna, the SV channel count goes from 0 to N-1, where N is the
number of channels in the primary antenna channel configuration. When using the ASSIGN
command for channels on the secondary antenna, the SV channel count begins at N and
goes to N+(M-1), where M is the number of channels in the secondary antenna SV channel
configuration.

Field

1

2

3

Field
Type

ASCII Value Binary Value

ASSIGN
header

-

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.

-

H

0

Desired SV channel number where
channel 0 is the first SV channel. The
last channel depends on your model
configuration

Description

channel

0 to n-1, where n is the
maximum number of
channels in the current
channel configuration

Ulong

4

H

state

Set the SV channel state. If a value is
Refer to Table 12, Channel not given, the default of ACTIVE is used
Enum
State on page 67
when the additional optional parameters
are entered

4

H+4

4

H+8

GPS: 1-32
SBAS: 120-138, 183-187

4

prn

GLONASS: see
Section 1.3, GLONASS
Slot and Frequency
Numbers on page 31

Optional satellite PRN number. A value
must be entered if the state parameter is Ulong
neither IDLE nor AUTO

Galileo: 1-36
QZSS: 193-197
BDS: 1-30

OEM6 Firmware Reference Manual Rev 12

68

Commands

Field

Field
Type

Chapter 2

ASCII Value Binary Value

Description

Format

Binary Binary
Bytes Offset

Current Doppler offset of the satellite
5

6

Doppler

Doppler
window

-100 000 to
100 000 Hz

Note: Satellite motion, receiver antenna
Long
motion and receiver clock frequency
error must be included in the calculation
of Doppler frequency (default = 0)

4

H+12

4

H+16

Error or uncertainty in the Doppler
estimate above.
0 to 10 000 Hz

OEM6 Firmware Reference Manual Rev 12

Note: This is a ± value.

Ulong

Example: 500 for ± 500 Hz
(default = 4500)

69

Commands

2.4.7

Chapter 2

ASSIGNALL
Assigns all channels to a PRN

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The ASSIGNALL command should only be used by advanced users.
This command is used to override the automatic satellite/channel assignment and reacquisition processes for
all receiver channels with manual instructions.
Message ID:

28

Abbreviated ASCII Syntax:
ASSIGNALL [system] [state] [prn [Doppler [Doppler window]]]
ASCII Example 1:
ASSIGNALL GLONASS IDLE
In example 1, all GLONASS channels are idled, essentially stopping the receiver from tracking GLONASS.
ASCII Example 2:
ASSIGNALL GLONASS AUTO
In example 2, all GLONASS channels are enabled in auto mode. This enables the receiver to automatically
assign channels to track the available GLONASS satellites.
This command is the same as ASSIGN except that it affects all SV channels of the specified
system.
These command examples are only applicable to specific receiver models.
If the system field is used with this command and the receiver has no channels configured with
that channel system, the command is rejected.

Field

Field
Type

Binary
Value

ASCII Value

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.

1

ASSIGNALL
header

2

system

See Table 13, Channel
System on page 71

3

state

Refer to Table 12, Channel
Set the SV channel state
State on page 67)

-

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

4

H

4

H+4

System that SV channel is tracking. If no
value is specified, the value defaults to Enum
ALL
Enum

70

Commands

Field

Field
Type

Chapter 2

ASCII Value

Binary
Value

Description

Format

Binary Binary
Bytes Offset

GPS: 1-32
SBAS: 120-138, 183-187

4

prn

GLONASS: see
Section 1.3, GLONASS Slot Optional satellite PRN code. A value
and Frequency Numbers on must be entered if the state parameter is Ulong
page 31.
neither IDLE or AUTO
Galileo: 1-36

4

H+8

4

H+12

4

H+16

QZSS: 193-197
BDS: 1-30
Current Doppler offset of the satellite
5

Doppler

6

Doppler
window

Note: Satellite motion, receiver antenna
Long
motion and receiver clock frequency
error must be included in the calculation
of Doppler frequency.(default = 0)

-100 000 to
100 000 Hz

Error or uncertainty in the Doppler
estimate above.

0 to 10 000 Hz

Note: This is a ± value (for example, 500
for ± 500 Hz) (default =4500)

Ulong

Table 13: Channel System
Binary

ASCII

Description

3

ALL

All systems

99

GPS

GPS system

100

SBAS

SBAS system

101

GLONASS

GLONASS system

102

GALILEO

GALILEO system

103

BeiDou

BeiDou system

104

QZSS

QZSS system

Only GLONASS satellites that are in the almanac are available to assign using a slot number in
the ASSIGN command. The possible range is still 38 to 61.

OEM6 Firmware Reference Manual Rev 12

71

Commands

2.4.8

Chapter 2

ASSIGNLBAND
Sets L-Band satellite communication parameters

OEM Platform:

628, 638, FlexPak6, ProPak6

This command enables a receiver channel to track the specified OmniSTAR signal at a specified frequency
and baud rate.
In addition to a NovAtel receiver with L-Band capability, a subscription to the OmniSTAR or use
of other DGPS service is required. Contact NovAtel Inc. at www.novatel.com/support/ for
details.
Message ID:

729

Abbreviated ASCII Syntax:
ASSIGNLBAND mode [freq] [baud]
Factory Default:
ASSIGNLBAND IDLE
ASCII Example:
ASSIGNLBAND omnistar 1536782 1200
Beam Frequencies
The OmniSTAR beam frequency chart can be found at www.omnistar.com.
For example: Use OmniSTAR VBS
ASSIGNLBAND OMNISTAR  1200
PSRDIFFSOURCE OMNISTAR
Field

ASCII
Value

Field Type

Binary
Value

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.

1

ASSIGNLBAND
header

2

mode

See Table 14, L-Band
Set the mode
Mode on page 73

3

freqa

1525000 to 1560000
or
1525000000 to
1560000000

L-Band service beam frequency of
satellite (Hz or kHz). See also Beam
Frequencies on page 72
(default = 1545000)

4

baud

300, 600, 1200 or
2400

-

Format

Binary Binary
Bytes Offset

H

0

Enum

4

H

Ulong

4

H+4

Data rate for communication (bps) with
L-Band satellite
Ulong
(default = 1200)

4

H+8

a. The frequency assignment can be made in kHz or Hz. For example:
ASSIGNLBAND OMNISTAR 1557855000 1200
ASSIGNLBAND OMNISTAR 1557855 1200

OEM6 Firmware Reference Manual Rev 12

72

Commands

Chapter 2
Table 14: L-Band Mode

Binary

ASCII

Description

0

Reserved

1

OMNISTAR

2

Reserved

3

IDLE

Configure the receiver to track any L-Band satellites. The 'freq' and 'baud'
fields are optional and do not need to be specified in this mode

4

OMNISTARAUTOa

Automatically select the best OmniSTAR beam to track based on the
receiver’s position. This requires the receiver to have a downloaded
satellite list from an OmniSTAR satellite. Therefore, a manual assignment
is necessary the first time is used on a new receiver. After collection, the
satellite list is stored in NVM for subsequent auto assignments. Lists are
considered valid for 6 months and are constantly updated while an
OmniSTAR signal is tracking. If the receiver has a valid satellite list, it is
reported in a status bit in the LBANDSTAT log (see page 506)

5

OMNISTARNARROW

Track OmniSTAR satellite using a 1100 Hz search window on
reacquisitions

Track OmniSTAR satellites. A frequency baud rate must be specified

a. The receiver will always track an available local beam over a global beam. The receiver constantly monitors the
satellite list to ensure it is tracking the best one and automatically switches beams if it is not tracking the best one.
You can view the satellite list by logging the OMNIVIS log (see page 541).

OEM6 Firmware Reference Manual Rev 12

73

Commands

2.4.9

Chapter 2

ASSIGNLBAND2
Sets L-Band satellite communication parameter

OEM Platform:

628, 638, FlexPak6, ProPak6

This command enables a receiver channel to track the specified OmniSTAR signal at a specified frequency
and baud rate the same as the ASSIGNLBAND command but you can also specify the OmniSTAR satellite
service ID number. In addition to a NovAtel receiver with L-Band capability, a subscription to the OmniSTAR
or use of other DGPS service is required. Contact NovAtel for more details.
Message ID: 1200
Abbreviated ASCII Syntax:
ASSIGNLBAND2 mode [freq] [baud] [id]
Factory Default:
ASSIGNLBAND2 IDLE
ASCII Example:
ASSIGNLBAND2 omnistar 1557855000 1200 c685
Beam Frequencies
Use OmniSTAR VBS
ASSIGNLBAND2 OMNISTAR  1200
PSRDIFFSOURCE OMNISTAR
The OmniSTAR beam frequency chart can be found at www.omnistar.com.
Field

ASCII
Value

Field Type

1

ASSIGNLBAND2
header

2

mode

Binary
Value

-

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.

or

0

Enum

4

H

L-Band service beam frequency of
satellite (Hz or kHz). See also Beam
Frequencies on page 74
(default = 1545000)

Ulong

4

H+4

Data rate for communication with
L-Band satellite (bps)
(default = 1200)

Ulong

4

H+8

Ulong

4

H+12

3

freqa

4

baud

300, 600, 1200 or
2400

5

ID

0x0, 0xC685, 0x2873 OmniSTAR satellite service ID
or 0xFCEE
number (default=0x0)

1525000000 to
1560000000

Binary Binary
Bytes Offset

H

See Table 14, L-Band
Set the mode
Mode on page 73
1525000 to 1560000

Format

a. The frequency assignment can be made in kHz or Hz. For example:

ASSIGNLBAND2 OMNISTAR 1557855000 1200 c685
ASSIGNLBAND2 OMNISTAR 1557855 1200 c685

OEM6 Firmware Reference Manual Rev 12

74

Commands

Chapter 2

2.4.10 ASSIGNLBANDBEAM
Configure L-Band tracking
OEM Platform:

628, 638, FlexPak6, ProPak6, SMART6-L

This command selects the beam that provides L-Band data and configures the L-Band tracking. It can be
used to assign TerraStar, Veripos and OmniSTAR beams.
If the receiver has previously downloaded a beam table, then AUTO will select the beam from the satellite
with the highest elevation.
The LBANDBEAMTABLE log (see page 503) reports the TerraStar and Veripos beams known to the receiver.
The OMNIVIS log (see page 541) reports the OmniSTAR beams known to the receiver.
Logging the ASSIGNLBANDBEAM command may not display the correct values. To access the
actual beam name, frequency and baud rate values, log LBANDTRACKSTAT or if the beam
name is known the user can log LBANDBEAMTABLE and find the associated frequency and
baud rate.
Message ID:

1733

Abbreviated ASCII Syntax:
ASSIGNLBANDBEAM [option] [name] [frequency] [baudrate] [Dopplerwindow]
Factory Default:
ASSIGNLBANDBEAM idle
ASCII Examples:
ASSIGNLBANDBEAM auto
ASSIGNLBANDBEAM 98W
ASSIGNLBANDBEAM manual 98w 1539902500 1200
Field

Field Type

Description

Format

Binary Binary
Bytes Offset

1

This field contains the command name or the message
ASSIGNLBAND
header depending on whether the command is
BEAM header
abbreviated ASCII, ASCII or binary, respectively

2

Option

Assignment option (see Table 15, L-Band Assignment
Option above) (manual=default)

Enum

3

Name

Beam name (empty string=default)

Char[8] 8

H+4

4

Frequency

Beam frequency in Hz or kHz (0=default)

Ulong

4

H+12

5

Baud rate

Data baud rate (0=default)

Ulong

4

H+16

6

Doppler window Doppler window to search (6000=default)

Ulong

4

H+20

OEM6 Firmware Reference Manual Rev 12

H

0

4

H

75

Commands

Chapter 2
Table 15: L-Band Assignment Option
ASCII

Binary

Description

IDLE

0

Idle the L-Band channel

AUTO

1

Allow receiver to auto select the beam based on almanac information

MANUAL

2

Manually assign a beam

OEM6 Firmware Reference Manual Rev 12

76

Commands

2.4.11

Chapter 2

AUTH
Authorization code for different model

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to add or remove authorization codes from the receiver. Authorization codes are used
to authorize models of software for a receiver. Models control the functionality the receiver provides. The
RECEIVER is capable of keeping track of 24 authorization codes at one time. The MODEL command (see
page 205) can then be used to switch between authorized models. The VALIDMODELS log (see page 720)
lists the current available models in the receiver. The AUTHCODES log (see page 382) lists all Authorization
codes entered into the receiver. This simplifies the use of multiple software models on the same receiver.
If there is more than one valid model in the receiver, the receiver either uses the model of the last auth code
entered via the AUTH command or the model that was selected by the MODEL command, whichever was done
last. Adding an Authorization Code or using the MODEL command causes an automatic reset of the receiver.
Removing an Authorization Code does not cause a reset.
Removing an authorization code will cause the receiver to permanently lose this information.

Message ID:

49

Abbreviated ASCII Syntax:
AUTH [state] part1 part2 part3 part4 part5 model [date]
Input Example:
AUTH ADD T48JF2,W25DBM,JH46BJ,2WGHMJ,8JW5TW,G2SR0RCCR,101114

When you are ready to upgrade from one model to another, call 1-800-NOVATEL to speak with
our Customer Support/Sales Personnel, who can provide the authorization code that unlocks
the additional features of your GNSS receiver. This procedure can be performed at your work
site and takes only a few minutes.
Receiver models can also be downgraded. This is a two step handshaking process and is best
performed in a location with e-mail access.

Use the VERSION log to check the boot version. Boot version OEM060200RB0000 introduces
support for signature authorization codes in addition to standard authorization codes. Standard
authorization codes are firmware specific meaning new codes are required if the receiver
firmware is updated. Signature authorization codes will work with any firmware version that has
been digitally signed by NovAtel, removing the need for new codes after an upgrade. Digitally
signed firmware files can be found on www.novatel.com/support. To update firmware on
receivers with older boot versions, please contact NovAtel Customer Support.

OEM6 Firmware Reference Manual Rev 12

77

Commands

Field

1

Chapter 2

Field
Type

AUTH
header

REMOVEa
ADD
2

Binary
Value

ASCII Value

Description

-

This field contains the
command name or the
message header depending
on whether the command is
abbreviated ASCII, ASCII or
binary, respectively

0

Remove the authcode from the
system

1

Add the authcode to the
system (default)

state
ADD_
4
DOWNLOADb

Add the authcode to an image
that has been downloaded via
SoftLoad software but is not
yet running

Binary
Bytes

Format

Binary
Offset

-

H

0

Enum

4

H

3

part1

6 character ASCII string

Authorization code section 1

String [max. 16] Variableb H+4

4

part2

6 character ASCII string

Authorization code section 2

String [max. 16] Variableb H+20

5

part3

6 character ASCII string

Authorization code section 3

String [max. 16] Variableb H+36

6

part4

6 character ASCII string

Authorization code section 4

String [max. 16] Variableb H+52

7

part5

6 character ASCII string

Authorization code section 5

String [max. 16] Variableb H+68

8

model

Alpha numeric

Null
Model name of the receiver
terminated

String [max. 16] Variablec H+84

9

date

Numeric

Null
Expiry date entered as
terminated yymmdd in decimal

String [max 7]

Variableb Variable

a. For this parameter, the Part1-Part5 fields can be entered as 0 0 0 0 0, and only the model name entered.
b. This option is valid only after SOFTLOADSTATUS indicates a SoftLoad is COMPLETE. Once the receiver has been reset
and the new image is running the ADD option must be used to add a new authcode
c. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

78

Commands

Chapter 2

2.4.12 AUTOSURVEY
Survey for accurate position
The AUTOSURVEY command uses position averaging to automatically determine the position for a base
station.
When the AUTOSURVEY command is sent, the receiver starts position averaging. The position averaging
continues until a specified accuracy level is met or until the specified survey time expires. When position
averaging is complete, the calculated position is saved as the fix position for the base station. This calculated
position is then used when transmitting differential corrections to the rover.



If the FIX command is entered by a user, the SAVECONFIG command must then be issued to
save to NVM. If the FIX command is issued by the AUTOSURVEY feature, the SAVECONFIG
command does not need to be issued.

On subsequent power ups or resets, an AUTOSURVEY runs to determine if the base station has moved. As
the AUTOSURVEY runs, the average position calculated is compared to the saved fix position. If the average
position is within the AUTOSURVEY tolerance setting, the receiver assumes it has not moved and uses the
previously saved fix position. If the average position is outside of the AUTOSURVEY tolerance setting, the
receiver assumes it has moved and will continue calculating a position average until the accuracy level is met
or until the specified survey time expires.
Message ID:

1795

Abbreviated ASCII Syntax:
AUTOSURVEY switch [time] [accuracy] [tolerance]
Input Example:
In the following example, the receiver is set up to survey its position for up to 24 hours or until the averaged
position accuracy is 10 cm. On subsequent power ups at the same location, the survey will terminate as soon
as the receiver determines the position is within 4 m of its surveyed position. Once the receiver has fixed its
position, it will transmit RTCM V3 corrections over COM2.
SERIALCONFIG COM2 115200 N 8 1 N ON
INTERFACEMODE COM2 NONE RTCMV3 OFF
LOG COM2 RTCM1004 ONTIME 1
LOG COM2 RTCM1006 ONTIME 10
LOG COM2 RTCM1019 ONTIME 120
AUTOSURVEY ENABLE 1440 .1 4
SAVECONFIG
Field

1

Field Type

AUTOSURVEY
header

ASCII
Value

Binary
Value

-

OEM6 Firmware Reference Manual Rev 12

Description

Binary
Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.

Binary
Bytes

Binary
Offset

H

0

79

Commands

Field

2

Field Type

control

Chapter 2
ASCII
Value

Binary
Value

Description

disable

0

Disables the self-survey feature and
halts any self-survey related activity

enable

1

Enables the self-survey feature

Binary
Format

Binary
Bytes

Binary
Offset

Enum

4

H

3

max time

10 - 6000 minutes

Maximum amount of time to perform
self-survey
(default = 1440 minutes)

Ulong

4

H+4

4

accuracy

0 - 100 metres

Desired horizontal standard deviation
(default = 0.1 metres)

Float

4

H+8

4

H+12

4

H+16

5

tolerance

3 - 100 metres

Maximum distance between calculated
position and saved position. During the
self-survey, if the distance between the
calculated position and the previously Float
surveyed position is less than this
value, the previous position is used.
(default = 4 metres)

6

save in NVM
option

OFF

0

Do not save position in NVM

ON

1

Save position in NVM

7

ID for saved
position
*

4 character string

Enum

ID for the saved position. If the ID is not
specified or if the ID is entered as
String[5] 5*
"AUTO", receiver automatically
generates a unique ID for the position

H+20

In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

80

Commands

Chapter 2

2.4.13 BASEANTENNAMODEL
Enters/changes base antenna model
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

It is recommended that you use the BASEANTENNAPCO (see page 83) and BASEANTENNAPCV
(see page 85) commands or the BASEANTENNATYPE (see page 86) command rather than the
BASEANTENNAMODEL command.
This command allows you to enter or change an antenna model for a base receiver. Setting this value
changes the appropriate field in RTCM23, RTCM1007 and RTCM1008 messages.You can set the antenna
setupID to any value from 0-255.
Phase center offsets are entered as northing, easting and up. The Phase Center Variation (PCV) entries
follow the NGS standard and correspond to the phase elevation at 5 degree increments starting at 90
degrees and decreasing to 0. All units are in mm.
1. L1/L2 processing should include both L1 and L2 values or the resulting values might be
incorrect. Since the phase measurement itself is corrected with the L1/L2 difference, failure
to enter these values could result in bad position fixes.
2. It is recommended that you only enter antenna information if complete antenna model
information is available. This information is best used in high precision static survey
situations where antenna models are available for the base and rover receivers.
To enter rover antenna information, use the THISANTENNAPCO and THISANTENNAPCV
commands or the THISANTENNATYPE command. To enter the RTK antenna information,
use the RTKANTENNA command.
Message ID:

870

Abbreviated ASCII Syntax:
BASEANTENNAMODEL name SN setupID type [L1 offset N] [L1 offset E]
[L1 offset UP] [L1 var] [L2 offset N] [L2 offset E] [L2 offset UP] [L2 var]
Factory Default:
BASEANTENNAMODEL none none 0 none
ASCII Example:
BASEANTENNAMODEL 702 NVH05410007 1 user

Field

Field Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

Binary
Offset

1

BASEANTENNA
MODEL header

2

name

Antenna name

String[32]

Variablea H

3

SN

Antenna serial number

String[32]

Variablea Variable

-

OEM6 Firmware Reference Manual Rev 12

0

81

Commands

Field

4

Field Type

Chapter 2
ASCII
Value

Binary
Value

setupID
(0-255)

5

typeb

6

L1 offset N

7

L1 offset E

8

L1 offset UP

9

L1 var

10

L2 offset N

11

L2 offset E

12

L2 offset UP

13

L2 var

NO
0
ANTENNA
USER
1
ANTENNA

Description

Format

Binary
Bytes

Binary
Offset

Setup identification - setting this
value changes the appropriate
field in RTCM23, RTCM1007
Ulong
and RTCM1008, see pages 550,
515 and 515 respectively

4

Variable

Antenna model type

Enum

4

Variable

Double

8

Variable

Double

8

Variable

Double

8

Variable

L1 phase offsets northing
(default = 0.0 mm)
L1 phase offsets easting
(default = 0.0 mm)
L1 phase offsets up
(default = 0.0 mm)
L1 phase center variations
(default = 0.0 mm for all 19)
L2 phase offsets northing
(default = 0.0 mm)
L2 phase offsets easting
(default = 0.0 mm)
L2 phase offsets up
(default = 0.0 mm)
L2 phase center variations
(default = 0.0 mm for all 19)

Double [19] 152

Variable

Double

8

Variable

Double

8

Variable

Double

8

Variable

Double [19] 152

Variable

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.
b. This should always be a user antenna when data is being entered manually for phase center offsets and/or phase center
variation arrays.

OEM6 Firmware Reference Manual Rev 12

82

Commands

Chapter 2

2.4.14 BASEANTENNAPCO
Sets the PCO model of the base receiver
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use the BASEANTENNAPCO command to set the Phase Center Offsets (PCO) for a given frequency on the
remote base receiver from which this receiver is receiving corrections. The Offsets are defined as North, East
and Up from the Antenna Reference Point to the Frequency Phase Center in millimetres.
Message ID:

1415

Abbreviated ASCII Syntax:
BASEANTENNAPCO Frequency NORTHOFFSET EASTOFFSET UPOFFSET [CorrectionType]
[StationId]
ASCII Example:
BASEANTENNAPCO GPSL1 0.61 1.99 65.64

Field

ASCII
Value

Field Type

Binary
Value

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

The frequency that the phase
center offsets are valid for.

Enum

4

H

1

BASEANTENNAPCO
header

2

Frequency

3

North Offset

NGS standard Phase Center
North Offset in millimetres.

Double 8

H+4

4

East Offset

NGS standard Phase Center
East Offset in millimetres.

Double 8

H+12

5

Up Offset

NGS standard Phase Center Up
Double 8
Offset in millimetres.

H+20

6

Correction Type

See Table 51,
DGPS Type on
page 234

7

Station ID

Char [8] or ANY

-

See Table 16,
Frequency Type on
page 84

OEM6 Firmware Reference Manual Rev 12

Correction type
(default = AUTO)
ID string for the base station
(default = ANY)

Enum

4

H+28

Char

8

H+32

83

Commands

Chapter 2
Table 16: Frequency Type
Value

Name

Description

0

GPSL1

GPS L1 frequency

1

GPSL2

GPS L2 frequency

2

GLONASSL1

GLONASS L1 frequency

3

GLONASSL2

GLONASS L2 frequency

5

GPSL5

GPS L5 frequency

7

GALILEOE1

Galileo E1 frequency

8

GALILEOE5A

Galileo E5a frequency

9

GALILEOE5B

Galileo E5b frequency

10

GALILEOALTBOC

Galileo AltBOC frequency

11

BEIDOUB1

BeiDou B1 frequency

12

BEIDOUB2

BeiDou B2 frequency

13

QZSSL1

QZSS L1 frequency

14

QZSSL2

QZSS L2 frequency

15

QZSSL5

QZSS L5 frequency

OEM6 Firmware Reference Manual Rev 12

84

Commands

Chapter 2

2.4.15 BASEANTENNAPCV
Sets the PCV model of the base receiver
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use the BASEANTENNAPCV command to set the Phase Center Variation (PCV) for a given frequency on the
remote base receiver from which this receiver is receiving corrections. The Phase Center Variation entries
follow the NGS standard and correspond to the phase elevation at 5 degree increments starting at 90
degrees and decreasing to 0.
Message ID:

1416

Abbreviated ASCII Syntax:
BASEANTENNAPCV Frequency [PCVArray] [CorrectionType] [StationId]
ASCII Example:
BASEANTENNAPCV GPSL1 0.00 -0.020 -0.07 -0.15 -0.24 -0.34 -0.43 -0.51 -0.56
-0.61 -0.65 -0.69 -0.69 -0.62 -0.44 -0.13 0.28 0.70 1.02

Field

ASCII
Value

Field Type

1

BASEANTENNAPCV
header

2

Frequency

Binary
Value

-

See Table 16,
Frequency Type
on page 84

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or binary,
respectively

H

0

The frequency for which the phase
center variations are valid.

Enum

4

H

NGS standard 19 element array of
phase center variations, in
millimetres, in 5 degree elevation
increments from 90 to 0. Defaults to
zero for all elevation increments.

Double
152
[19]

H+4

3

PCV Array

4

Correction Type

See Table 51,
DGPS Type on
page 234

Correction type defaults to AUTO

Enum

4

H+156

5

Base station ID

Char [8] or ANY

ID string defaults to ANY

Char

8

H+160

OEM6 Firmware Reference Manual Rev 12

85

Commands

Chapter 2

2.4.16 BASEANTENNATYPE
Sets the antenna type of the base receiver
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use the BASEANTENNATYPE command to set the antenna type of the remote base receiver from which this
receiver is receiving corrections. The Antenna Type and Radome Type are the NGS names for the antenna.
When the antenna type is set using this command, the receiver will look up and use the Phase
Center Variations and Phase Center Offsets from an internal table.
Message ID:

1419

Abbreviated ASCII Syntax:
BASEANTENNATYPE AntennaType [RadomeType] [CorrectionType] [StationId]
ASCII Example:
BASEANTENNATYPE NOV702
Field

ASCII
Value

Field Type

Binary
Value

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Description

1

BASEANTENNA
TYPE header

2

Antenna Type

See Table 17, Antenna
Type on page 86

NGS Antenna Name

Enum

4

H

3

Radome Type

See Table 18, Radome
Type on page 93

NGS Radome Name
(default=AUTO)

Enum

4

H+4

4

Correction Type

See Table 51, DGPS
Type on page 234

Correction type (default=AUTO)

Enum

4

H+8

5

Base station ID

Char [8] or ANY

ID string (default=ANY)

Char

8

H+12

-

The latest information can be obtained from the National Geodetic Survey (NGS) site
www.ngs.noaa.gov/ANTCAL.
Table 17: Antenna Type
Value

Name

Description

0

NONE

No antenna model

2

AUTO

Determine the antenna model from the
RTK corrections
(Not valid for THISANTENNATYPE)

3

AERAT2775_43

OEM6 Firmware Reference Manual Rev 12

86

Commands

Chapter 2
Value

Name

Description

4

AOAD_M_B

5

AOAD_M_T

AOAD/M_T

6

AOAD_M_TA_NGS

AOAD/M_TA_NGS

7

APSAPS-3

8

ASH700228A

9

ASH700228B

10

ASH700228C

11

ASH700228D

12

ASH700228E

13

ASH700699.L1

14

ASH700700.A

15

ASH700700.B

16

ASH700700.C

17

ASH700718A

18

ASH700718B

19

ASH700829.2

20

ASH700829.3

21

ASH700829.A

22

ASH700829.A1

23

ASH700936A_M

24

ASH700936B_M

25

ASH700936C_M

26

ASH700936D_M

27

ASH700936E

28

ASH700936E_C

29

ASH700936F_C

30

ASH701008.01B

31

ASH701073.1

32

ASH701073.3

33

ASH701933A_M

34

ASH701933B_M

OEM6 Firmware Reference Manual Rev 12

87

Commands

Chapter 2
Value

Name

35

ASH701933C_M

36

ASH701941.1

37

ASH701941.2

38

ASH701941.A

39

ASH701941.B

40

ASH701945B_M

41

ASH701945C_M

42

ASH701945D_M

43

ASH701945E_M

44

ASH701945G_M

45

ASH701946.2

46

ASH701946.3

47

ASH701975.01A

48

ASH701975.01AGP

49

JAV_GRANT-G3T

50

JAV_RINGANT_G3T

51

JAVRINGANT_DM

52

JNSMARANT_GGD

53

JPLD/M_R

54

JPLD/M_RA_SOP

55

JPSLEGANT_E

56

JPSODYSSEY_I

57

JPSREGANT_DD_E

58

JPSREGANT_SD_E

59

LEIAR10

60

LEIAR25

61

LEIAR25.R3

62

LEIAR25.R4

63

LEIAS05

64

LEIAX1202GG

65

LEIAS10

OEM6 Firmware Reference Manual Rev 12

Description

88

Commands

Chapter 2
Value

Name

66

LEIAX1203+GNSS

67

LEIAT202+GP

68

LEIAT202-GP

69

LEIAT302+GP

70

LEIAT302-GP

71

LEIAT303

72

LEIAT502

73

LEIAT503

74

LEIAT504

75

LEIAT504GG

76

LEIATX1230

77

LEIATX1230+GNSS

78

LEIATX1230GG

79

LEIAX1202

80

LEIGG02PLUS

81

LEIGS08

82

LEIGS09

83

LEIGS12

84

3S-02-TSADM

85

3S-02-TSATE

86

LEIGS15

87

LEIMNA950GG

88

LEISR299_INT

89

LEISR399_INT

90

LEISR399_INTA

91

MAC4647942

92

MPL_WAAS_2224NW

93

MPL_WAAS_2225NW

94

MPLL1_L2_SURV

95

NAVAN2004T

96

NAVAN2008T

OEM6 Firmware Reference Manual Rev 12

Description

89

Commands

Chapter 2
Value

Name

97

NAX3G+C

98

NOV_WAAS_600

99

NOV501

100

NOV501+CR

101

NOV502

102

NOV502+CR

103

NOV503+CR

104

NOV531

105

NOV531+CR

106

NOV600

107

NOV702

108

NOV702GG

109

NOV750.R4

110

SEN67157596+CR

111

SOK_RADIAN_IS

112

SOK502

113

SOK600

114

SOK702

115

SPP571212238+GP

116

STXS9SA7224V3.0

117

TOP700779A

118

TOP72110

119

TPSCR.G3

120

TPSCR3_GGD

121

TPSCR4

122

TPSG3_A1

123

TPSHIPER_GD

124

TPSHIPER_GGD

125

TPSHIPER_LITE

126

TPSHIPER_PLUS

127

TPSLEGANT_G

OEM6 Firmware Reference Manual Rev 12

Description

90

Commands

Chapter 2
Value

Name

128

TPSLEGANT2

129

TPSLEGANT3_UHF

130

TPSODYSSEY_I

131

TPSPG_A1

132

TPSPG_A1+GP

133

TRM14177.00

134

TRM14532.00

135

TRM14532.10

136

TRM22020.00+GP

137

TRM22020.00-GP

138

TRM23903.00

139

TRM27947.00+GP

140

TRM27947.00-GP

141

TRM29659.00

142

TRM33429.00+GP

143

TRM33429.00-GP

144

TRM33429.20+GP

145

TRM39105.00

146

TRM41249.00

147

TRM41249USCG

148

TRM4800

149

TRM55971.00

150

TRM57970.00

151

TRM57971.00

152

TRM5800

153

TRM59800.00

154

TRM59800.80

155

TRM59900.00

156

TRMR8_GNSS

157

TRMR8_GNSS3

158

Description

ASH701023.A

OEM6 Firmware Reference Manual Rev 12

91

Commands

Chapter 2
Value

Name

159

CHCC220GR

160

CHCC220GR2

161

CHCX91+S

162

GMXZENITH10

163

GMXZENITH20

164

GMXZENITH25

165

GMXZENITH25PRO

166

GMXZENITH35

167

JAVRINGANT_G5T

168

JAVTRIUMPH_1M

169

JAVTRIUMPH_1MR

170

JAVTRIUMPH_2A

171

JAVTRIUMPH_LSA

172

JNSCR_C146-22-1

173

JPSREGANT_DD_E1

174

JPSREGANT_DD_E2

175

JPSREGANT_SD_E1

176

JPSREGANT_SD_E2

177

LEIAR20

178

LEIGG03

179

LEIGS08PLUS

180

LEIGS14

181

LEIICG60

182

NOV533+CR

183

NOV703GGG.R2

184

NOV750.R5

185

RNG80971.00

186

SEPCHOKE_B3E6

187

SEPCHOKE_MC

188

STXS10SX017A

189

STXS8PX003A

OEM6 Firmware Reference Manual Rev 12

Description

92

Commands

Chapter 2
Value

Name

Description

190

STXS9PX001A

191

TIAPENG2100B

192

TIAPENG2100R

193

TIAPENG3100R1

194

TIAPENG3100R2

195

TPSCR.G5

196

TPSG5_A1

197

TPSPN.A5

198

TRM55970.00

199

TRMR10

200

TRMR4-3

201

TRMR6-4

202

TRMR8-4

203

TRMR8S

204

TRMSPS985

205

AERAT1675_120

206

ITT3750323

207

NOV702GGL

208

NOV704WB
Table 18: Radome Type

OEM6 Firmware Reference Manual Rev 12

Value

Name

0

NONE

1

SPKE

2

SNOW

3

SCIS

4

SCIT

5

OLGA

6

PFAN

7

JVDM

8

LEIT

9

LEIC

93

Commands

OEM6 Firmware Reference Manual Rev 12

Chapter 2
Value

Name

10

LEIS

11

MMAC

12

NOVS

13

TPSH

14

CONE

15

TPSD

16

TCWD

17

UNAV

18

TZGD

19

CHCD

20

JAVC

21

LEIM

22

NOVC

94

Commands

Chapter 2

2.4.17 BDSECUTOFF
Sets elevation cut-off angle for BeiDou satellites
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the tracking elevation cut-off angle for BeiDou satellites.
1. Care must be taken when using BDSECUTOFF command because the signals from lower
elevation satellites are traveling through more atmosphere and are therefore degraded. Use
of satellites below 5 degrees is not recommended.
2. Use the ELEVATIONCUTOFF command (see page 138) to set the cut-off angle for all other
systems.
3. For the OEM617D and FlexPak6D receivers, this command applies to both the primary and
secondary antennas.
Message ID:

1582

Abbreviated ASCII Syntax:
BDSECUTOFF angle
Factory Default:
BDSECUTOFF 5.0
ASCII Example:
BDSECUTOFF 10.0

Field

ASCII
Value

Field Type

1

BDSECUTOFF
header

2

angle

Binary
Value

-

±90.0 degrees

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

H

0

Elevation cut-off angle relative to horizon

Float

4

H

Description

OEM6 Firmware Reference Manual Rev 12

95

Commands

Chapter 2

2.4.18 BESTVELTYPE
Sets the velocity used in the BESTVEL and GPVTG logs
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command configures the source of the velocity that is output in the BESTVEL and GPVTG logs. Set the
type to something other than BESTPOS when an unchanging velocity source with specific characteristics is
needed.
The Doppler velocity is the highest-availability, lowest-latency velocity available from the receiver. Due to its
low latency, it is also the noisiest velocity.
Message ID:

1678

Abbreviated ASCII Syntax:
BESTVELTYPE mode
Factory Default:
BESTVELTYPE bestpos
ASCII Example:
BESTVELTYPE doppler

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

BESTVELTYPE
header

This field contains the command name or the message
header depending on whether the command is abbreviated ASCII, ASCII or binary, respectively

H

0

2

mode

Velocity type (see Table 19, Velocity Types)

4

H

Enum

Table 19: Velocity Types
ASCII

Binary

Description

BESTPOS

0

Use the velocity from the same positioning filter that is
being used to fill BESTPOS and GPGGA

DOPPLER

1

Always fill BESTVEL using Doppler-derived velocities

OEM6 Firmware Reference Manual Rev 12

96

Commands

Chapter 2

2.4.19 BLUETOOTHCONFIG
Configures Bluetooth® parameters
OEM Platform:

ProPak6

Use the BLUETOOTHCONFIG command to configure Bluetooth operation parameters.
This command can be saved with the SAVECONFIG command.

Message ID:

1609

Abbreviated ASCII Syntax:
BLUETOOTHCONFIG BluetoothConfiguration switch value
Factory Default:
BLUETOOTHCONFIG POWER OFF
ASCII Example:
BLUETOOTHCONFIG POWER ON

Field

Field Type

Description

Format

1

BLUETOOTHCONFIG
header

Command header

2

bluetooth configuration
parameter

Parameter option (see Table 20, Supported
BLUETOOTHCONFIG Parameters)

3

value1

4

value2

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Switch option (see Table 20, Supported
BLUETOOTHCONFIG Parameters)

String

12

H+4

Reserved

String [100]

100

H+16

Table 20: Supported BLUETOOTHCONFIG Parameters
No
1

Bluetooth Configuration
power

OEM6 Firmware Reference Manual Rev 12

Value1

Value2

Notes

ON

n/a

Powers on the Bluetooth radio

OFF

n/a

Powers off the Bluetooth radio

97

Commands

Chapter 2

2.4.20 BLUETOOTHDISCOVERABILITY
Controls Bluetooth discoverability
OEM Platform:

ProPak6

This command enables or disables the discoverability option of the Bluetooth module. When Bluetooth
discoverability is enabled, devices can discover and pair with the ProPak6. When Bluetooth discoverability is
disabled, devices that have previously paired with the Propak6 can still pair but new pairings cannot be
made.
When the Bluetooth module is powered on, discoverability is disabled by default.
This command can not be saved with the SAVECONFIG command.

When Bluetooth discoverability is enabled, throughput on both the Bluetooth interface (BT) and
any active Wi-Fi interfaces (ICOM, FTP, etc) is reduced.
Message ID:

1690

Abbreviated ASCII Syntax:
BLUETOOTHDISCOVERABILITY OnOffEnum [reserved]
Factory Default:
BLUETOOTHDISCOVERABILITY OFF
ASCII Example:
BLUETOOTHDISCOVERABILITY ON

Field

ASCII
Value

Field Type

1

BLUETOOTH
DISCOVERABILITY
header

2

OnOffEnum

3

RESERVED

Binary
Value

Description

-

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

OFF

0

Disable discoverability

ON

1

Enable discoverability

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

H

0

Enum

4

H

Ulong

4

H+4

98

Commands

Chapter 2

2.4.21 CELLULARCONFIG
Configures cellular parameters
OEM Platform:

ProPak6

Use the CELLULARCONFIG command to configure cellular parameters, such as APN.
This command can be saved with the SAVECONFIG command.

Message ID:

1683

Abbreviated ASCII Syntax:
CELLULARCONFIG CellularConfiguration [value1] [value2]
Factory Default:
CELLULARCONFIG POWER OFF
ASCII Example:
CELLULARCONFIG POWER ON
Field

ASCII
Value

Field Type\

Binary
Value

1

CELLULAR
CONFIG
Header

2

See Table 21,
Cellular
CELLULARCONFIG
Configuration Parameters on
page 100

-

-

Description

Binary
Bytes

Format

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

Parameter to configure

Binary
Offset

0

Enum

4

H

First parameter value
3

Value1

Alpha
numeric

The valid range of values depends String
Null
on the parameter being
(Max 256 Variablea H + 4
terminated configured (see Table 21,
bytes)
CELLULARCONFIG Parameters
on page 100)
Second parameter value

4

Value2

Alpha
numeric

The valid range of values depends String
Null
on the parameter being
(Max 100 Variablea Variable
terminated configured (see Table 21,
bytes)
CELLULARCONFIG Parameters
on page 100)

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

99

Commands

Chapter 2
Table 21: CELLULARCONFIG Parameters

Cellular Configuration
Value1

Value2

Notes

Binary Value ASCII Value
ON

n/a

Powers on the cellular radio and enables telephony.

OFF

n/a

Disables telephony, powers off the cellular radio.
(The default is OFF.)

1

power

2

apn



n/a

Sets the Access Point Name, e.g., internet.com.
This string is limited to 99 characters plus 1 null byte
to terminate the string.

3

username

 n/a

Sets the APN username, e.g., wapuser.
This string is limited to 255 characters plus 1 null byte
to terminate the string.

4

password



n/a

Sets the APN password, e.g., wappassword.
This string is limited to 255 characters plus 1 null byte
to terminate the string.

ON

n/a

Enables data connectivity on the configured APN.
(The default is ON.)

OFF

n/a

Disables data connectivity on the configured APN.

GSM

n/a

Configures the radio to use GSM networks only.

UMTS

n/a

Configures the radio to use UMTS networks only.

ANY

n/a

Configures the radio to use any available network.
(The default is ANY.)

ON

n/a

Enables data connectivity on the configured APN
when the radio is roaming.

OFF

n/a

Disables data connectivity on the configured APN
when the radio is roaming. (The default is OFF)

5

6

7

data

nettype

dataroam

ASCII Examples:
Enable/disable cellular telephony:
cellularconfig power on
cellularconfig power off
Configure the APN. The factory default APN is blank.
cellularconfig apn 
cellularconfig user 
cellularconfig password 
Enable/disable cellular data connectivity using configured APN:
cellularconfig data on
cellularconfig data off
Enable disable data connectivity while roaming outside of home network:
cellularconfig dataroam on
cellularconfig dataroam off

OEM6 Firmware Reference Manual Rev 12

100

Commands

Chapter 2

2.4.22 CLOCKADJUST
Enables clock adjustments
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6D

All oscillators have some inherent drift. By default, the receiver attempts to steer the receiver’s clock to
accurately match GPS reference time. Use the CLOCKADJUST command to disable this function. The TIME
log can then be used to monitor clock drift.
1. The CLOCKADJUST command should only be used by advanced users.
2. If the CLOCKADJUST command is ENABLED and the receiver is configured to use an
external reference frequency (set in the EXTERNALCLOCK command (see page 145) for an
external clock - TCXO, OCXO, RUBIDIUM, CESIUM, or USER), then the clock steering
process takes over the VARF output pins and may conflict with a previously entered
FREQUENCYOUT command (see page 155).
3. When using the EXTERNALCLOCK and CLOCKADJUST commands together, issue the
EXTERNALCLOCK command first to avoid losing satellites.
4. When disabled, the range measurement bias errors continue to accumulate with clock drift.
5. Pseudorange, carrier phase and Doppler measurements may jump if the CLOCKADJUST
mode is altered while the receiver is tracking.
6. When disabled, the time reported on all logs may be offset from GPS reference time. The
1PPS output may also be offset. The amount of this offset may be determined from the
TIME log (see page 715).
7. A discussion on GPS reference time may be found in Section 1.4, GPS Reference Time
Status on page 32.
Message ID:

15

Abbreviated ASCII Syntax:
CLOCKADJUST switch
Factory Default:
CLOCKADJUST ENABLE
ASCII Example:
CLOCKADJUST DISABLE
The CLOCKADJUST command can be used to calibrate an internal oscillator. Disable the
CLOCKADJUST mode in order to find out what the actual drift is from the internal oscillator.
Watch the CLOCKMODEL log to see the drift rate and adjust the oscillator until the drift stops.

Field

ASCII
Value

Field Type

1

CLOCKADJUST
header

2

switch

Binary
Value

-

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

DISABLE 0

Disallow adjustment of internal clock

ENABLE

Allow adjustment of internal clock

1

OEM6 Firmware Reference Manual Rev 12

Format

Enum

Binary Binary
Bytes Offset

H

0

4

H

101

Commands

Chapter 2

2.4.23 CLOCKCALIBRATE
Adjusts clock steering parameters
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to adjust the control parameters of the clock steering loop. The receiver must be
enabled for clock steering before these values can take effect. Refer to the CLOCKADJUST command on
page 101 to enable or disable clock steering.
To disable the clock steering process, issue the CLOCKADJUST DISABLE command.
The current values used by the clock steering process are listed in the CLOCKSTEERING log (see
page 422).
The values entered using the CLOCKCALIBRATE command are saved to non-volatile memory
(NVM). To restore the values to their defaults, the FRESET CLKCALIBRATION command must
be used. Issuing FRESET without the CLKCALIBRATION parameter will not clear the values
(see page 157 for more details).
Message ID:

430

Abbreviated ASCII Syntax:
CLOCKCALIBRATE [mode] [period] [pulsewidth] [slope] [bandwidth]
ASCII Example:
CLOCKCALIBRATE AUTO
The receiver by default steers its INTERNAL VCTCXO but can be commanded to control an
EXTERNAL reference oscillator. Use the EXTERNALCLOCK command (see page 145) to
configure the receiver to use an external reference oscillator. If the receiver is configured for an
external reference oscillator and configured to adjust its clock, then the clock steering loop
attempts to steer the external reference oscillator through the use of the VARF signal. Note that
the clock steering control process conflicts with the manual FREQUENCYOUT command (see
page 155). It is expected that the VARF signal is used to provide a stable reference voltage by
the use of a filtered charge pump type circuit (not supplied).

Field Field Type

1

ASCII Binary
Value Value

CLOCK
CALIBRATE header

-

Description
This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or binary,
respectively

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

102

Commands

Field Field Type

Chapter 2
ASCII Binary
Value Value
SET

2

mode

0

Description

Format

Binary Binary
Bytes Offset

Sets the period, pulsewidth, slope and bandwidth
values into NVM for the currently selected steered
oscillator (INTERNAL or EXTERNAL)

AUTO 1

Forces the receiver to do a clock steering calibration
to measure the slope (change in clock drift rate with
a 1 bit change in pulse width) and required
Enum
pulsewidth to zero the clock drift rate. After the
calibration, these values along with the period and
bandwidth are entered into NVM and are then used
from this point forward on the selected oscillator

OFF

Terminates a calibration process currently
underway (default)

4

H

Ulong

4

H+4

Sets the initial pulse width that should provide a near
zero drift rate from the selected oscillator being
The valid range
steered. The valid range for this parameter is 10%
for this
to 90% of the period. If this value is not known, (in
Ulong
parameter is
the case of a new external oscillator) then it should
10% to 90% of
be set to ½ the period and the mode should be set
the period
to AUTO to force a calibration
(default = 1700, except OEM638 which is 2600)

4

H+8

4

H+12

4

H+16

2

Signal period in 25 ns steps.
3

period

0 to 262144

Frequency Output = 40,000,000 / Period
(default = 4400)

4

pulsewidth

This value should correspond to how much the clock
drift changes with a 1 bit change in the pulsewidth
m/s/bit. The default values for the slope used for the
INTERNAL and EXTERNAL clocks is

5

6

slope

bandwidth

-2.0 and -0.01 respectively. If this value is not
known, then its value should be set to 1.0 and the
mode should be set to AUTO to force a calibration. Float
Once the calibration process is complete and using
a slope value of 1.0, the receiver should be
recalibrated using the measured slope and
pulsewidth values (see the CLOCKSTEERING log
on page 422). This process should be repeated until
the measured slope value remains constant (less
than a 5% change) (default = -3.2)
This is the value used to control the smoothness of
the clock steering process. Smaller values result in
slower and smoother changes to the receiver clock.
Larger values result in faster responses to changes
Float
in oscillator frequency and faster start up clock pull
in. The default values are 0.03 and 0.001 Hz
respectively for the INTERNAL and EXTERNAL
clocks (default = 0.03)

OEM6 Firmware Reference Manual Rev 12

103

Commands

Chapter 2

2.4.24 CLOCKOFFSET
Adjusts for delay in 1PPS output
OEM Platform: 615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6
This command is used to remove a delay in the PPS output. The PPS signal is delayed from the actual
measurement time due to two major factors:
•

A delay in the signal path from the antenna to the receiver

•

An intrinsic delay through the RF and digital sections of the receiver

The second delay is automatically accounted for by the receiver using a nominal value determined for each
receiver type. However, since the delay from the antenna to the receiver cannot be determined by the
receiver, an adjustment cannot automatically be made. The CLOCKOFFSET command can be used to adjust
for this delay.
Message ID:

596

Abbreviated ASCII Syntax:
CLOCKOFFSET offset
Factory Default:
CLOCKOFFSET 0
ASCII Example:
CLOCKOFFSET -15
There may be small variances in the delays for each cable or card. The CLOCKOFFSET
command can be used to characterize each setup. For example, for a cable with a delay of 10
ns, the offset can be set to -10 to remove the delay from the PPS output.

Field

ASCII
Value

Field Type

1

CLOCKOFFSET
header

-

2

offset

200

Binary
Value

-

OEM6 Firmware Reference Manual Rev 12

Binary
Bytes

Binary
Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Specifies the offset in nanoseconds

4

H

Description

Format

Long

104

Commands

Chapter 2

2.4.25 CNOUPDATE
Sets the C/No update rate
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the C/No update rate.
Message ID:

849

Abbreviated ASCII Syntax:
CNOUPDATE rate
Factory Default:
CNOUPDATE default
ASCII Example (rover):
CNOUPDATE 20Hz
Use the CNOUPDATE command for higher resolution update rate of the C/No measurements of
the incoming GNSS signals. By default, the C/No values are calculated at approximately 4 Hz
but this command allows you to increase that rate to 20 Hz.

Field

1

ASCII
Value

Field Type

CNOUPDATE
header
DEFAULT

2

rate

20HZ

Binary
Value

Description

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

0

C/No update rate:

1

OEM6 Firmware Reference Manual Rev 12

0 = Turn off C/No enhancement
default = 4 Hz

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

1 = 20 Hz C/No updates

105

Commands

Chapter 2

2.4.26 COM
COM port configuration control
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The SERIALCONFIG command supersede the COM command (refer to page 271). Also refer to
the ECHO command on page 134. For backwards compatibility, the COM command is still
supported. Only the SERIALCONFIG command will be updated to support new or expanded
functionality. Customers are urged to migrate to the SERIALCONFIG command.
This command permits you to configure the receiver’s asynchronous serial port communications drivers.
The current COM port configuration can be reset to its default state at any time by sending it two hardware
break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds) with a pause of
at least 250 milliseconds following the second break. This will:
•

Stop the logging of data on the current port (see UNLOGALL log on page 330)

•

Clear the transmit and receive buffers on the current port

•

Return the current port to its default settings (see page 37 for details)

•

Set the interface mode to NovAtel for both input and output (see the INTERFACEMODE command on
page 176)

See also Section 2.3, Factory Defaults on page 37 for a description of the factory defaults, and the
COMCONFIG log on page 108.
1. The COMCONTROL command (see page 109) may conflict with handshaking of the selected
COM port. If handshaking is enabled, then unexpected results may occur.
2. Baud rates higher than 115,200 bps are not supported by standard PC hardware. Special
PC hardware may be required for higher rates, including 230400 bps, 460800 bps and
921600 bps. Also, some PC's have trouble with baud rates beyond 57600 bps.
Message ID:

4

Abbreviated ASCII Syntax:
COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]]
Factory Default:
COM COM1 9600 N 8 1 N OFF ON
COM COM2 9600 N 8 1 N OFF ON
COM COM3 9600 N 8 1 N OFF ON
com aux 9600 n 8 1 n off on
ASCII Example:
COM COM1,57600,N,8,1,N,OFF,ON

OEM6 Firmware Reference Manual Rev 12

106

Commands

Chapter 2

Watch for situations where the COM ports of two receivers are connected together and the baud rates do not
match. Data transmitted through a port operating at a slower baud rate may be misinterpreted as break
signals by the receiving port if it is operating at a higher baud rate. This is because data transmitted at the
lower baud rate is stretched relative to the higher baud rate. In this case, configure the receiving port to have
break detection disabled using the COM command.
Use the COM command before using the INTERFACEMODE command on each port. Turn break
detection off using the COM command to stop the port from resetting because it is interpreting
incoming bits as a break command.
Refer to the following tables under the SERIALCONFIG command:
•

Table 58, COM Port Identifiers on page 273

•

Table 59, Parity on page 273

•

Table 60, Handshaking on page 273

Binary
Value

Field Field Type ASCII Value

1

COM
header

-

2

port

See Table 58, COM Port
Identifiers on page 273

3

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.

Binary Binary
Bytes Offset

H

0

4

H

bps/baud

Communication baud rate (bps).
300, 600, 900, 1200, 2400,
4800, 9600, 19200, 38400, Bauds of 460800 and 921600 are also ULong
57600, 115200, or 230400 available on COM1 of OEMV-2-based
products.

4

H+4

4

parity

See Table 59, Parity on
page 273

Parity

Enum

4

H+8

5

databits

7 or 8

Number of data bits (default = 8)

ULong

4

H+12

6

stopbits

1 or 2

Number of stop bits (default = 1)

ULong

4

H+16

7

handshake

See Table 60,
Handshaking
Handshaking on page 273

Enum

4

H+20

4

H+24

4

H+28

8

echo

9

break

-

Description

Port to configure.
(default = THISPORT)

Enum

OFF

0

No echo (default)

ON

1

Transmit any input characters as they Enum
are received

OFF

0

Disable break detection

ON

1

Enable break detection (default)

OEM6 Firmware Reference Manual Rev 12

Enum

107

Commands

Chapter 2

2.4.27 COMCONFIG
This command is replaced with the SERIALCONFIG command. See page 271 for more
information.

OEM6 Firmware Reference Manual Rev 12

108

Commands

Chapter 2

2.4.28 COMCONTROL
Controls the RS-232 hardware control lines
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to control the hardware control lines of the RS-232 ports. The TOGGLEPPS mode of
this command is typically used to supply a timing signal to a host PC computer by using the RTS or DTR
lines. The accuracy of controlling the COM control signals is better than 900 ms. The other modes are
typically used to control custom peripheral devices.
1. If handshaking is disabled, any of these modes can be used without affecting regular
RS-232 communications through the selected COM port. However, if handshaking is
enabled, it may conflict with handshaking of the selected COM port, causing unexpected
results.
2. The PULSEPPSLOW control type cannot be issued for a TX signal.
3. Only PULSEPPSHIGH, FORCEHIGH and FORCELOW control types can be used for a TX
signal.
Message ID:

431

Abbreviated ASCII Syntax:
COMCONTROL [port] [signal] [control]
Factory Default:
COMCONTROL COM1 RTS DEFAULT
COMCONTROL COM2 RTS DEFAULT
COMCONTROL COM3 RTS DEFAULT
ASCII Example 1:
SERIALCONFIG COM1 9600 N 8 1 N (to disable handshaking)
COMCONTROL COM1 RTS FORCELOW
COMCONTROL COM2 DTR TOGGLEPPS
ASCII Example 2:
COMCONTROL COM1 RTS TOGGLEPPS
COMCONTROL COM2 RTS TOGGLEPPS
COMCONTROL COM3 RTS TOGGLEPPS
ASCII Example 3:
To set a break condition on COM1:
COMCONTROL COM1 TX FORCELOW
A break condition remains in effect until it is cleared. To clear a break condition on COM1:
COMCONTROL COM1 TX DEFAULT
or
COMCONTROL COM1 TX FORCEHIGH

OEM6 Firmware Reference Manual Rev 12

109

Commands

Chapter 2

Field Field Type ASCII Value

1

COM
CONTROL header

3

4

port

signal

Description

Format

This field contains the command name or
the message header depending on whether
the command is abbreviated ASCII, ASCII
or binary, respectively.

-

COM1
2

Binary
Value

1

RS-232 port to control.

COM2

2

Valid ports are COM1, COM2 and COM3

COM3

3

COM6

32

COM6 is OEM638 only

RTS

0

DTR

1

TX

2

COM signal to control. The controllable
COM signals are RTS, DTR and TX.
(Default=RTS)
See also Table 22, Tx, DTR and RTS
Availability

DEFAULT

0

Binary Binary
Bytes Offset

H

0

Enum

4

H

Enum

4

H+4

4

H+8

Disables this command and returns the
COM signal to its default state (Default)

FORCEHIGH 1

Immediately forces the signal high

FORCELOW 2

Immediately forces the signal low

TOGGLE

3

Immediately toggles the current sate of the
signal

TOGGLE
PPS

4

Toggles the state of the selected signal
Enum
within 900 s after each 1PPS event. The
state change of the signal lags the 1PPS by
an average value of 450 s. The delay of
each pulse varies by a uniformly random
amount less than 900 s

PULSEPPS
LOW

5

Pulses the line low at a 1PPS event and to
high 1 ms after it. Not for TX

PULSEPPS
HIGH

6

Pulses the line high for 1 ms at the time of a
1PPS event

control

Table 22: Tx, DTR and RTS Availability
Pro

Tx Available On

DTR Available On

RTS Available On

OEM615

COM1 and COM2

N/A

N/A

OEM628

COM1 and COM2

N/A

COM1 and COM2

OEM638

COM1, COM2, COM3 and COM6

N/A

COM1, COM2 and COM3

COM1 on the OEM628 is user configurable for RS-422. Refer to the Technical Specifications
appendix and also the Connecting Data Communication Equipment section of the OEM6 Family
Installation and Operation User Manual (OM-20000128).

OEM6 Firmware Reference Manual Rev 12

110

Commands

Chapter 2

2.4.29 COMVOUT
Controls power on the COM ports
OEM Platform:

ProPak6

Use this command to control power to the Propak6 COM1 and COM2 ports.
When COMVOUT is used to turn on power for a COM port, power from the ProPak6 power connector is
applied to pin 4 of the COM port (COM1 or COM2).
Power is provided to pin 4 at the same voltage as the power supply connected to the ProPak6
power connector.
To prevent damage to the Propak6 or the far-end device connected to COM1 and/or COM2,
ensure the connections are correct before issuing this command.
Message ID:

779

Abbreviated ASCII Syntax:
COMVOUT port switch
ASCII Example:
COMVOUT COM1 on
Field Field Type

1

COMVOUT
header

2

Port

ASCII
Value

Binary
Value

Data Description

Format

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or
binary, respectively
COM1

1

Selects the COM1 port

COM2

2

Selects the COM2 port

OFF

0

(by default, COMVOUT is disabled on the
ports)

ON

1

Enables power on pin 4 of the selected port

Binary Binary
Bytes Offset

H

0

Enum

4

H

Enum

4

H+4

Disables power on pin 4 of the selected port
3

Switch

OEM6 Firmware Reference Manual Rev 12

111

Commands

Chapter 2

2.4.30 DATADECODESIGNAL
Enable/Disable navigation data decoding for GNSS signal
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to enable or disable decoding of the navigation message for each GNSS signal. The
default setting for each GNSS signal, and which signals can be configured, is available in Table 23, GNSS
Signal Default and Configurability. The table also lists if the signal's navigation message is used to compute
the satellite position. For the binary value and a longer description for each signal, see Table 27, Signal Type
on page 126.
Table 23: GNSS Signal Default and Configurability
Signal

Default

Configurable

Used for Satellite
Positioning

GPSL1CA

Enabled

Yes

Yes

GPSL2Y

Disabled

No

No

GPSL2C

Disabled

Yes

No

GPSL2P

Disabled

No

No

GPSL5

Disabled

Yes

No

GLOL1CA

Enabled

Yes

Yes

GLOL2CA

Disabled

No

No

GLOL2P

Disabled

No

No

SBASL1

Enabled

Yes

Yes

SBASL5

Disabled

No

Yes

GALE1

Enabled

Yes

Yes

GALE5A

Enabled

Yes

Yes

GALE5B

Enabled

Yes

Yes

GALALTBOC

Disabled

No

No

BDSB1D1

Enabled

Yes

Yes

BDSB1D2

Enabled

Yes

Yes

BDSB2D1

Disabled

No

No

BDSB2D2

Disabled

No

No

QZSSL1CA

Enabled

Yes

Yes

QZSSL2C

Enabled

Yes

No

QZSSL5

Enabled

Yes

No

OEM6 Firmware Reference Manual Rev 12

112

Commands

Chapter 2

Message ID:

1532

Abbreviated ASCII Syntax:
DATADECODESIGNAL signaltype switch
Abbreviated ASCII Example:
DATADECODESIGNAL GPSL2C enable
Field

1

ASCII
Value

Field Type
DATADECODE
SIGNAL
header

2

signal type

3

switch

Binary
Value

-

See Table 24,
Signal Type
(DATADECODESI
GNAL) on
page 113
Disable

0

Enable

1

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

GNSS Signal Type

Enum

4

H

Enable or disable the data decoding

Enum

4

H+4

Table 24: Signal Type (DATADECODESIGNAL)
Value (Binary)

Signal (ASCII)

Description

33

GPSL1CA

GPS L1 C/A-code

69

GPSL2C

GPS L2 C/A-code

70

GPSL2P

GPS L2 P-code

103

GPSL5

GPS L5

2177

GLOL1CA

GLONASS L1 C/A-code

2211

GLOL2CA

GLONASS L2 C/A-code

2212

GLOL2P

GLONASS L2 P-code

4129

SBASL1

SBAS L1

4194

SBASL5

SBAS L5

10433

GALE1

Galileo E1

10466

GALE5A

Galileo E5A

10499

GALE5B

Galileo E5B

12673

BDSB1D1

BeiDou B1 with D1 navigation data

12674

BDSB1D2

BeiDou B1 with D2 navigation data

12803

BDSB2D1

BeiDou B2 with D1 navigation data

OEM6 Firmware Reference Manual Rev 12

113

Commands

Chapter 2
Value (Binary)

Signal (ASCII)

Description

12804

BDSB2D2

BeiDou B2 with D2 navigation data

14753

QZSSL1CA

QZSS L1 C/A-code

14787

QZSSL2C

QZSS L2 C/A-code

14820

QZSSL5

QZSS L5

16737

LBAND

LBAND

OEM6 Firmware Reference Manual Rev 12

114

Commands

Chapter 2

2.4.31 DATUM
Chooses a datum name type
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to select the geodetic datum for operation of the receiver. If not set, the factory default
value is wgs84. See the USERDATUM command for user definable datums. The datum you select causes all
position solutions to be based on that datum.
The transformation for the WGS84 to Local used in the OEM6 family is the Bursa-Wolf transformation or
reverse Helmert transformation. In the Helmert transformation, the rotation of a point is counter clockwise
around the axes. In the Bursa-Wolf transformation, the rotation of a point is clockwise. Therefore, the reverse
Helmert transformation is the same as the Bursa-Wolf.
See Table 25, Reference Ellipsoid Constants on page 116 for a complete listing of all available predefined
datums. The offsets in the table are from the local datum to WGS84.
Message ID:

160

Abbreviated ASCII Syntax:
DATUM datum
Factory Default:
DATUM wgs84
ASCII Example:
DATUM CSRS
Also, as an example, you can achieve spatial integrity with Government of Canada maps and surveys if the
coordinates are output using the CSRS datum (Datum ID# 64).
Table 25, Reference Ellipsoid Constants on page 116 contains the internal ellipsoid and transformation
parameters used in the receiver. The values contained in these tables were derived from the following dma
reports:
1

TR 8350.2

Department of Defense World Geodetic System 1984 and Relationships with Local
Geodetic Systems - Revised March 1, 1988

2

TR 8350.2B

Supplement to Department of Defense World Geodetic System 1984 Technical Report
- Part II - Parameters, Formulas, and Graphics for the Practical Application of WGS84
- December 1, 1987

3

TR 8350.2

Department of Defense World Geodetic System 1984 National Imagery and Mapping
Agency Technical Report, Third Addition, Amendment 1 - January 3, 2000

By default, NovAtel receivers output positions in WGS84, with the following exceptions:
EGNOS, TerraStar, Veripos and OmniSTAR use ITRF2008, which is coincident with WGS84 at
about the decimetre level.

OEM6 Firmware Reference Manual Rev 12

115

Commands

Chapter 2

ASCII
Value

Field Field Type

Binary
Value

1

DATUM
header

-

2

Datum
Type

See Table 26, Datum
Transformation
Parameters on page 116

Description

-

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

The datum to use

4

H

Enum

Table 25: Reference Ellipsoid Constants
ELLIPSOID

ID CODE

a (metres)

1/f

f

Airy 1830

AW

6377563.396

299.3249646

0.00334085064038

Modified Airy

AM

6377340.189

299.3249646

0.00334085064038

Australian National

AN

6378160.0

298.25

0.00335289186924

Bessel 1841

BR

6377397.155

299.1528128

0.00334277318217

Clarke 1866

CC

6378206.4

294.9786982

0.00339007530409

Clarke 1880

CD

6378249.145

293.465

0.00340756137870

Everest (India 1830)

EA

6377276.345

300.8017

0.00332444929666

Everest (Brunei & E.Malaysia)

EB

6377298.556

300.8017

0.00332444929666

Everest (W.Malaysia & Singapore)

EE

6377304.063

300.8017

0.00332444929666

Geodetic Reference System 1980

RF

6378137.0

298.257222101

0.00335281068118

Helmert 1906

HE

6378200.0

298.30

0.00335232986926

Hough 1960

HO

6378270.0

297.00

0.00336700336700

International 1924

IN

6378388.0

297.00

0.00336700336700

Parameters of the Earth

PZ-90.02

6378136.0

298.26

0.00335280374302

South American 1969

SA

6378160.0

298.25

0.00335289186924

World Geodetic System 1972

WD

6378135.0

298.26

0.00335277945417

World Geodetic System 1984

WE

6378137.0

298.257223563

0.00335281066475

Table 26: Datum Transformation Parameters
Datum
ID#a

NAME

DXb

DYb

DZb

DATUM DESCRIPTION

ELLIPSOID

1

ADIND

-162

-12

206

This datum has been updated, see ID# 65c

Clarke 1880

2

ARC50

-143

-90

-294

ARC 1950 (SW & SE Africa)

Clarke 1880

OEM6 Firmware Reference Manual Rev 12

116

Commands
Datum
ID#a

Chapter 2

NAME

DXb

DYb

DZb

DATUM DESCRIPTION

ELLIPSOID

3

ARC60

-160

-8

-300

This datum has been updated, see ID# 66c

Clarke 1880

4

AGD66

-133

-48

148

Australian Geodetic Datum 1966

Australian National

5

AGD84

-134

-48

149

Australian Geodetic Datum 1984

Australian National

6

BUKIT

-384

664

-48

Bukit Rimpah (Indonesia)

Bessel 1841

7

ASTRO

-104

-129

239

Camp Area Astro (Antarctica)

International 1924

8

CHATM

175

-38

113

Chatham 1971 (New Zealand)

International 1924

9

CARTH

-263

6

431

Carthage (Tunisia)

Clarke 1880

10

CAPE

-136

-108

-292

CAPE (South Africa)

Clarke 1880

11

DJAKA

-377

681

-50

Djakarta (Indonesia)

Bessel 1841

12

EGYPT

-130

110

-13

Old Egyptian

Helmert 1906

13

ED50

-87

-98

-121

European 1950

International 1924

14

ED79

-86

-98

-119

European 1979

International 1924

15

GUNSG

-403

684

41

G. Segara (Kalimantan - Indonesia)

Bessel 1841

16

GEO49

84

-22

209

Geodetic Datum 1949 (New Zealand)

International 1924

17

GRB36

375

-111

431

Do not use. Use ID# 76 insteadd

Airy 1830

18

GUAM

-100

-248

259

Guam 1963 (Guam Island)

Clarke 1866

19

HAWAII

89

-279

-183

Do not use. Use ID# 77 or ID# 81 insteadd

Clarke 1866

20

KAUAI

45

-290

-172

Do not use. Use ID# 78 or ID# 82 insteadd

Clarke 1866

21

MAUI

65

-290

-190

Do not use. Use ID# 79 or ID# 83 insteadd

Clarke 1866

22

OAHU

56

-284

-181

Do not use. Use ID# 80 or ID# 84 insteadd

Clarke 1866

23

HERAT

-333

-222

114

Herat North (Afghanistan)

International 1924

24

HJORS

-73

46

-86

Hjorsey 1955 (Iceland)

International 1924

25

HONGK

-156

-271

-189

Hong Kong 1963

International 1924

26

HUTZU

-634

-549

-201

This datum has been updated, see ID# 68c

International 1924

27

INDIA

289

734

257

Do not use. Use ID# 69 or ID# 70 insteadd

Everest (EA)

28

IRE65

506

-122

611

Do not use. Use ID# 71 insteadd

Modified Airy

29

KERTA

-11

851

5

Kertau 1948 (West Malaysia and Singapore) Everest (EE)

30

KANDA

-97

787

86

Kandawala (Sri Lanka)

Everest (EA)

31

LIBER

-90

40

88

Liberia 1964

Clarke 1880

OEM6 Firmware Reference Manual Rev 12

117

Commands
Datum
ID#a

Chapter 2

DXb

NAME

DYb

DZb

DATUM DESCRIPTION

ELLIPSOID

32

LUZON

-133

-77

-51

Do not use. Use ID# 72 insteadd

Clarke 1866

33

MINDA

-133

-70

-72

This datum has been updated, see ID# 73c

Clarke 1866

34

MERCH

31

146

47

Merchich (Morocco)

Clarke 1880

35

NAHR

-231

-196

482

This datum has been updated, see ID# 74c

Clarke 1880

36

NAD83

0

0

0

N. American 1983 (Includes Areas 37-42)

GRS-80

37

CANADA

-10

158

187

N. American Canada 1927

Clarke 1866

38

ALASKA

-5

135

172

N. American Alaska 1927

Clarke 1866

39

NAD27

-8

160

176

N. American Conus 1927

Clarke 1866

40

CARIBB

-7

152

178

This datum has been updated, see ID# 75c

Clarke 1866

41

MEXICO

-12

130

190

N. American Mexico

Clarke 1866

42

CAMER

0

125

194

N. American Central America

Clarke 1866

43

MINNA

-92

-93

122

Nigeria (Minna)

Clarke 1880

44

OMAN

-346

-1

224

Oman

Clarke 1880

45

PUERTO

11

72

-101

Puerto Rica and Virgin Islands

Clarke 1866

46

QORNO

164

138

-189

Qornoq (South Greenland)

International 1924

47

ROME

-255

-65

9

Rome 1940 Sardinia Island

International 1924

48

CHUA

-134

229

-29

South American Chua Astro (Paraguay)

International 1924

49

SAM56

-288

175

-376

South American (Provisional 1956)

International 1924

50

SAM69

-57

1

-41

South American 1969

S. American 1969

51

CAMPO

-148

136

90

S. American Campo Inchauspe (Argentina)

International 1924

52

SACOR

-206

172

-6

South American Corrego Alegre (Brazil)

International 1924

53

YACAR

-155

171

37

South American Yacare (Uruguay)

International 1924

54

TANAN

-189

-242

-91

Tananarive Observatory 1925 (Madagascar) International 1924

55

TIMBA

-689

691

-46

This datum has been updated, see ID# 85c

Everest (EB)

56

TOKYO

-128

481

664

This datum has been updated, see ID# 86c

Bessel 1841

57

TRIST

-632

438

-609

Tristan Astro 1968 (Tristan du Cunha)

International 1924

58

VITI

51

391

-36

Viti Levu 1916 (Fiji Islands)

Clarke 1880

59

WAK60

101

52

-39

This datum has been updated, see ID# 67c

Hough 1960

60

WGS72

0

0

4.5

World Geodetic System - 72

WGS72

61

WGS84

0

0

0

World Geodetic System - 84

WGS84

OEM6 Firmware Reference Manual Rev 12

118

Commands
Datum
ID#a

Chapter 2

DXb

NAME

DYb

DZb

DATUM DESCRIPTION

ELLIPSOID

62

ZANDE

-265

120

-358

Zanderidj (Surinam)

International 1924

63

USER

0

0

0

User Defined Datum Defaults

User a

64

CSRS

Time-variable 7 parameter transformation

65

ADIM

-166

-15

204

Adindan (Ethiopia, Mali, Senegal & Sudan)c

Clarke 1880

66

ARSM

-160

-6

-302

ARC 1960 (Kenya, Tanzania)c

Clarke 1880

67

ENW

102

52

-38

Wake-Eniwetok (Marshall Islands)c

Hough 1960

68

HTN

-637

-549

-203

Hu-Tzu-Shan (Taiwan)c

International 1924

69

INDB

282

726

254

Indian (Bangladesh)d

Everest (EA)

70

INDI

295

736

257

Indian (India, Nepal)d

Everest (EA)

71

IRL

506

-122

611

Ireland 1965 d

Modified Airy

72

LUZA

-133

-77

-51

Luzon (Philippines excluding Mindanoa Is.)de Clarke 1866

73

LUZB

-133

-79

-72

Mindanoa Islandc

Clarke 1866

74

NAHC

-243

-192

477

Nahrwan (Saudi Arabia)c

Clarke 1880

75

NASP

-3

142

183

N. American Caribbeanc

Clarke 1866

76

OGBM

375

-111

431

Great Britain 1936 (Ordinance Survey)d

Airy 1830

77

OHAA

89

-279

-183

Hawaiian Hawaii d

Clarke 1866

78

OHAB

45

-290

-172

Hawaiian Kauaiid

Clarke 1866

79

OHAC

65

-290

-190

Hawaiian Mauid

Clarke 1866

80

OHAD

58

-283

-182

Hawaiian Oahud

Clarke 1866

81

OHIA

229

-222

-348

Hawaiian Hawaiid

International 1924

82

OHIB

185

-233

-337

Hawaiian Kauaid

International 1924

83

OHIC

205

-233

-355

Hawaiian Mauid

International 1924

84

OHID

198

-226

-347

Hawaiian Oahud

International 1924

85

TIL

-679

669

-48

Timbalai (Brunei and East Malaysia) 1948c

Everest (EB)

86

TOYM

-148

507

685

Tokyo (Japan, Korea and Okinawa)c

Bessel 1841

a. The default user datum is WGS84. See also the USERDATUM command on page 331 and USEREXPDATUM command
on page 333. The following logs report the datum used according to the OEM card Datum ID column: BESTPOS,
BESTUTM, MATCHEDPOS and PSRPOS.
b. The DX, DY and DZ offsets are from your local datum to WGS84.
c. The updated datum have the new x, y and z translation values updated to the latest numbers. The old datum values can
still be used for backwards compatibility.
d. Use the corrected datum only (with the higher ID#) as the old datum is incorrect.
e. The original LUZON values are the same as for LUZA but the original has an error in the code.

OEM6 Firmware Reference Manual Rev 12

119

Commands

Chapter 2

2.4.32 DGPSEPHEMDELAY
Sets DGPS ephemeris delay
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the ephemeris delay when operating as a base station. The ephemeris delay
sets a time value by which the base station continues to use the old ephemeris data. A delay of 120 to 300
seconds typically ensures that the rover stations have collected updated ephemeris. After the delay period is
passed, the base station begins using new ephemeris data.
The factory default of 120 seconds matches the RTCM standard.
The RTCA Standard stipulates that a base station shall wait five minutes after receiving a new
ephemeris before transmitting differential corrections to rover stations that are using the RTCA
standard. This time interval ensures that the rover stations have received the new ephemeris
and have computed differential positioning based upon the same ephemeris. Therefore, for
RTCA base stations, the recommended ephemeris delay is 300 seconds.
Message ID:

142

Abbreviated ASCII Syntax:
DGPSEPHEMDELAY delay
Factory Default:
DGPSEPHEMDELAY 120
ASCII Example (base):
DGPSEPHEMDELAY 120
When using differential corrections, the rover receiver must use the same set of broadcast
ephemeris parameters as the base station generating the corrections. The Issue of Ephemeris
Data (IODE) parameter is transmitted as part of the differential correction so that the rover can
guarantee that its and the base station ephemerides match. The DGPSEPHEMDELAY
parameter should be large enough to ensure that the base station is not using a new set of
ephemerides that has not yet been received at the rover receiver.

Field

Field Type

ASCII Binary
Value Value

1

DGPSEPHEMDELAY
header

2

delay

-

0 to 600 s

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Minimum time delay before new
ephemeris is used

4

H

Ulong

120

Commands

Chapter 2

2.4.33 DGPSTXID
Sets DGPS station ID
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the station ID value for the receiver when it is transmitting corrections. This
allows for the easy identification of which base station was the source of the data.
For example, if you want to compare RTCM and RTCMV3 corrections, you would be easily able to identify
their base stations by first setting their respective DGPSTXID values.
Message ID:

144

Abbreviated ASCII Syntax:
DGPSTXID type ID
Factory Default:
DGPSTXID auto ANY
ASCII Examples:

Field

1

2

3

DGPSTXID RTCM 2

- using an RTCM type and ID

DGPSTXID CMR 30

- using a CMR type and ID

DGPSTXID CMR ANY

- using the default CMR ID

DGPSTXID RTCA d36d

- using an RTCA type and ID

DGPSTXID RTCMV3 2050

- using an RTCMV3 type and ID

ASCII
Value

Field Type

DGPSTXID
header

mode

Binary
Value

-

-

RTCM

2

RTCA

3

CMR

4

RTCMV3

14

AUTO

27

base station ID Char[5]

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

See Table 51, DGPS Type on page 234 Enum

4

H

ID String
See Table 51, DGPS Type on page 234

Char[5] 8

H+4

121

Commands

Chapter 2

2.4.34 DHCPCONFIG
Configure optional parameters for DHCP Server
OEM Platform:

ProPak6

Allows users to configure optional parameters for the DHCP Server. The DHCP Server is currently configured
to only respond to DHCP requests on the Wi-Fi Interface so the optional PhysicalInterfaceEnum parameter
defaults to, and only accepts, "WIFI".
This command is SAVECONFIG-able.
Message ID:

1710

Abbreviated ASCII Syntax:
DHCPCONFIG PhysicalInterfaceEnum [EnableEnum] starting Machine Number Lease
Time
Factory Default:
DHCP enabled
ASCII Example:
DHCPCONFIG ENABLE 100 3600
Examples:
DHCPCONFIG DISABLE
- disables the DHCP Server on the Wi-Fi Interface
DHCPCONFIG ENABLE
- enables the DHCP Server on the Wi-Fi Interface with default values
DHCPCONFIG ENABLE 40 259200
- enables the DHCP Server on the Wi-Fi Interface with starting address of x.x.x.40 and lease time of 3 days
Field

Field Type

Data Description

Format

Binary
Bytes

Binary
Offset

1

DHCPCONFIG
Header

Command Header

-

H

0

2

PhysicalInterfaceEnum

Interface that's being configured for DHCP
Default = WIFI (only option)

Enum

4

H+4

3

EnableEnum

Enable/Disable the DHCP Server
Default = Enable

Enum

4

H+8

4

ULONG

Starting Machine Number part of the IP Address
x.x.x.
Ulong
Default = 100 (ie: x.x.x.100)

4

H+12

5

ULONG

Lease Time (seconds)
0 = Infinite. Otherwise minimum = 120s
Default = 3600 (1 hour)

4

H+16

OEM6 Firmware Reference Manual Rev 12

Ulong

122

Commands

Chapter 2

2.4.35 DIFFCODEBIASCONTROL
Enables /disables satellite differential code biases
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The purpose of the differential code biases is to correct pseudorange errors that affect the L1/L2 ionospheric
corrections. This command enables or disables the biases. A set of biases is included in the firmware and
use of the biases is enabled by default. See also the SETDIFFCODEBIASES command on page 281.
Message ID:

913

Abbreviated ASCII Syntax:
DIFFCODEBIASCONTROL switch
Factory Default:
DIFFCODEBIASCONTROL enable
Example:
DIFFCODEBIASCONTROL disable

Field

1

ASCII
Value

Field Type

DIFFCODEBIAS
CONTROL

Binary
Value

-

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.

DISABLE

0

Disable the differential code bias

ENABLE

1

Enable the differential code bias

header

2

switch

Description

OEM6 Firmware Reference Manual Rev 12

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

123

Commands

Chapter 2

2.4.36 DLLTIMECONST
Sets carrier smoothing
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command replaces the GLOCSMOOTH and CSMOOTH commands. It sets the amount of carrier smoothing
performed on the code measurements. An input value of 100 corresponds to approximately 100 seconds of
smoothing. Upon issuing the command, the locktime (amount of continuous tracking in seconds) for all
tracking satellites is reset to zero and each code smoothing filter is restarted. You must wait for at least the
length of smoothing time for the new smoothing constant to take full effect. The optimum setting for this
command depends on the application.
1. This command may not be suitable for every GNSS application.
2. When using DLLTIMECONST in differential mode with the same receivers, the same
setting should be used at both the base and rover station. If the base and rover stations use
different types of receivers, it is recommended that you use the command default value is at
each receiver (DLLTIMECONST  100).
3. There are several considerations when using the DLLTIMECONST command:
•

The attenuation of low frequency noise (multipath) in pseudorange measurements

•

The effect of time constants on the correlation of phase and code observations

•

The rate of “pulling-in” of the code tracking loop (step response)

•

The effect of ionospheric divergence on carrier smoothed pseudorange (ramp
response)

The primary reason for applying carrier smoothing to the measured pseudoranges is to mitigate
the high frequency noise inherent in all code measurements. Adding more carrier smoothing by
increasing the DLLTIMECONST value filters out lower frequency noise, including some
multipath frequencies.
There are also some adverse effects of higher DLLTIMECONST values on some performance
aspects of the receiver. Specifically, the time constant of the tracking loop is directly proportional
to the DLLTIMECONST value and affects the degree of dependence between the carrier phase
and pseudorange information. Carrier phase smoothing of the code measurements
(pseudoranges) is accomplished by introducing data from the carrier tracking loops into the
code tracking system. Phase and code data, collected at a sampling rate greater than about 3
time constants of the loop, are correlated (the greater the sampling rate, the greater the
correlation). This correlation is not relevant if only positions are logged from the receiver, but is
an important consideration if the data is combined in some other process such as post-mission
carrier smoothing. Also, a narrow bandwidth in a feedback loop impedes the ability of the loop
to track step functions. Steps in the pseudorange are encountered during initial lock-on of the
satellite and when working in an environment conductive to multipath. A low DLLTIMECONST
value allows the receiver to effectively adapt to these situations.

OEM6 Firmware Reference Manual Rev 12

124

Commands

Chapter 2

Also, increased carrier smoothing may cause problems when satellite signals are strongly
affected by the ionosphere. The rate of divergence between the pseudoranges and phasederived ranges is greatest when a satellite is low in the sky since the GPS signal must travel
through a much “thicker” ionosphere. The tracking error of the receiver is greatest at these
times when a lot of carrier smoothing is implemented. In addition, changing periods of
ionospheric activity (diurnal changes and the 11-year cycle) influences the impact of large
DLLTIMECONST values. It is important to realize that the advantages of carrier smoothing do
not come without some trade off in receiver performance. The factory default DLLTIMECONST
value of 100 was selected as an optimal compromise of the above considerations. For the
majority of applications, this default value should be appropriate. However, the flexibility exists
to adjust the parameter for specific applications by users who are familiar with the
consequences.
Message ID:

1011

Abbreviated ASCII Syntax:
DLLTIMECONST signaltype timeconst
Factory Defaults:
DLLTIMECONST  100
Example:
DLLTIMECONST GPSL2C 100

Field

1

ASCII
Value

Field Type

DLLTIMECONST
header

2

signal type

3

time const

-

Binary
Value

-

Description

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

See Table 27, Signal
Signal type
Type on page 126

OEM6 Firmware Reference Manual Rev 12

Format

Time constant (sec)

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Ulong

4

H+4

125

Commands

Chapter 2
Table 27: Signal Type
Value (Binary)

Signal (ASCII)

Description

33

GPSL1CA

GPS L1 C/A-code

68

GPSL2Y

GPS L2 P(Y)-code

69

GPSL2C

GPS L2 C/A-code

70

GPSL2P

GPS L2 P-code

103

GPSL5

GPS L5

2177

GLOL1CA

GLONASS L1 C/A-code

2211

GLOL2CA

GLONASS L2 C/A-code

2212

GLOL2P

GLONASS L2 P-code

4129

SBASL1

SBAS L1

4194

SBASL5

SBAS L5

10433

GALE1

Galileo E1

10466

GALE5A

Galileo E5A

10499

GALE5B

Galileo E5B

10532

GALALTBOC

Galileo ALT-BOC

12673

BDSB1D1

BeiDou B1 with D1 navigation data

12674

BDSB1D2

BeiDou B1 with D2 navigation data

12803

BDSB2D1

BeiDou B2 with D1 navigation data

12804

BDSB2D2

BeiDou B2 with D2 navigation data

14753

QZSSL1CA

QZSS L1 C/A-code

14787

QZSSL2C

QZSS L2 C/A-code

14820

QZSSL5

QZSS L5

OEM6 Firmware Reference Manual Rev 12

126

Commands

Chapter 2

2.4.37 DNSCONFIG
Manually configures Ethernet DNS servers
OEM Platform:

628, 638, FlexPak6, ProPak6

This command is part of the Ethernet set up. It is used to configure the Domain Name Servers (DNS) so that
host names can be used instead of IP addresses.
The DNSCONFIG command configures a DNS server for the Ethernet interface, ETHA.
However, the receiver will use this DNS server only if the Ethernet interface is configured as the
preferred network interface (see the SETPREFERREDNETIF command on page 287).
To configure the DNS server for the Wi-Fi client interface (ProPak6 only), use the
WIFICLICONFIG command (see page 340).
The DNSCONFIG command will fail if the IP address for the Ethernet interface, ETHA, is
configured to use DHCP. Ensure the IP address for the Ethernet interface is configured to use a
static IP address before entering the DNSCONFIG command.
When using DHCP, the DNS server received using DHCP is used and the DNS server
configured by DNSCONFIG is ignored.
Message ID:

1244

Abbreviated ASCII Syntax:
DNSCONFIG NumDNSSservers IP
Factory Default:
DNSCONFIG 0
ASCII Example:
DNSCONFIG 1 192.168.1.5

Field

Field Type

1

DNSCONFIG
Header

2

NumDNSServer

3

IP

ASCII Value

Binary
Value

-

-

0

0

1

1

ddd.ddd.ddd.ddd

Data Description

Format

Binary
Bytes

Binary
Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

Number of DNS servers

Enum

4

H

IP address of primary DNS
server

String
[16]

variablea H+4

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

127

Commands

Chapter 2

2.4.38 DOSCMD
Issues DOS commands
OEM Platform:

638, ProPak6

Use the DOSCMD command to issue DOS commands to the file system. These commands operate on files
and directories located on the internal flash storage file system only. Other than copying files to a USB drive,
this command cannot manipulate files on a USB memory stick connected to the OEM638 receiver card.
Message ID:

1355

Abbreviated ASCII Syntax:
DOSCMD DOSCommand [String1] [String2]
ASCII Example:
DOSCMD MKDIR SURVEY2

creates a directory named SURVEY2

DOSCMD COPY FLIGHTPATH.DAT copies a file named FLIGHTPATH.DAT to the external USB memory stick
DOSCMD DEL FLIGHTPATH.DAT

deletes a file named FLIGHTPATH.DAT

DOSCMD DEL *

deletes all files in the current directory (does not delete directories)

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

H

0

4

H

1

DOSCMD
header

Command header

2

DOSCommand

DOS command to issue (see Table 28, DOS
Command Enum on page 129)

Enum

3

String1

First parameter for the command (see Table 28,
DOS Command Enum on page 129) (optional)

Char
128
(null terminated)

variable

4

String2

Second parameter for the command (see Table 28,
DOS Command Enum on page 129) (optional)

Char
128
(null terminated)

variable

For a list of the files and directories on the file system, use the DIRENT log (see page 428).

OEM6 Firmware Reference Manual Rev 12

128

Commands

Chapter 2
Table 28: DOS Command Enum

Binary
Value

ASCII
Value

Description
Change directory

String 1

String 2

Comments

2

CD

Directory name

3

FORMATa Format media

4

RMDIR

Remove directory

Directory name

5

MKDIR

Make directory

Directory name

7

COPY

Copy file to USB

File name

USB stick must be formatted and
inserted

8

DEL

Delete file

File name

* wildcard symbol deletes all files in
current directory

9

RENAME

Rename file

Old name

Low level disk initialization. Resets
the receiver when complete
Directory must be empty

New name

a. The FORMAT command prepares a new receiver and can take 2 minutes or more to complete. This command
erases all data and cannot be recovered.

OEM6 Firmware Reference Manual Rev 12

129

Commands

Chapter 2

2.4.39 DUALANTENNAALIGN
Dual Antenna ALIGN configuration
OEM Platform:

617D, FlexPak6D

This command can be used to enable or disable ALIGN and configure the ALIGN operation rates on a dual
antenna OEM617D board and FlexPak6D enclosure.
Message ID:

1761

Abbreviated ASCII Syntax:
DUALANTENNAALIGN switch [obsrate] [posrate]
Factory Default:
DUALANTENNAALIGN enable 1 1
Example:
DUALANTENNAALIGN enable 10 1

Field

1

ASCII
Value

Field Type

DUALANTENNA
ALIGN header

DISABLE
2

Binary
Value

Format

-

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or binary,
respectively

0

Disable the dual antenna ALIGN
feature

1

Enable the dual antenna ALIGN
feature

Switch
ENABLE

Description

Binary Binary
Bytes Offset

H

0

Enum

4

H

3

obsrate

Rate at which heading output is
1, 2, 4, 5, 10 or 20 Hza required (default 1 Hz)

Ulong

4

H+4

4

posrate

Rate at which MASTERPOS output is
Ulong
1, 2, 4, 5, 10 or 20 Hza required (default 1 Hz)

4

H+8

a. Dual antenna ALIGN rates are limited to the maximum position rate allowed by the receiver model.

OEM6 Firmware Reference Manual Rev 12

130

Commands

Chapter 2

2.4.40 DUALANTENNAPOWER
Controls power to the secondary antenna
OEM Platform:

ProPak6

Use the DUALANTENNAPOWER command to control the LNA power to the secondary GNSS antenna.
This command is only applicable to ProPak6 receivers with the Heading option.

This command controls only the LNA for the secondary GNSS antenna. The primary GNSS
antenna is controlled by the ANTENNAPOWER command (see page 65).
Message ID:

1639

Abbreviated ASCII Syntax:
DUALANTENNAPOWER AntennaPower
Factory Default:
DUALANTENNAPOWER ON
ASCII Example:
DUALANTENNAPOWER Off

Field

ASCII
Value

Field Type

Binary
Value

Description

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

OFF

0

Power off immediately

ON

1

Power on immediately

1

DUALANTENNAPOWER
header

2

antennapower

OEM6 Firmware Reference Manual Rev 12

Format

Enum

Binary Binary
Bytes Offset

H

0

4

H

131

Commands

Chapter 2

2.4.41 DYNAMICS
Tunes receiver parameters
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to adjust the receiver dynamics to that of an application. It is used to optimally tune
receiver parameters.
The DYNAMICS command adjusts the Tracking State transition time out value of the receiver, see Table 126,
Tracking State on page 591. When the receiver loses the position solution, see Table 83, Solution Status on
page 395, it attempts to steer the tracking loops for fast reacquisition (5 s time-out by default). The
DYNAMICS command adjusts this time-out value, effectively increasing the steering time. The three states
AIR, LAND or FOOT set the time-out to 5, 10 or 20 seconds respectively.
The DYNAMICS command should only be used by advanced users. The default of AUTO should
not be changed except under very specific conditions.
Message ID:

258

Abbreviated ASCII Syntax:
DYNAMICS settings
Factory Default:
DYNAMICS auto
Example:
DYNAMICS FOOT

Field

ASCII
Value

Field Type

1

DYNAMICS
header

2

settings

Binary
Value

-

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

See Table 29, User
Receiver dynamics based on the
Dynamics on page 132 current environment

Enum

Binary Binary
Bytes Offset

H

0

4

H

Table 29: User Dynamics
Binary

ASCII

Description

0

AIR

Receiver is in an aircraft or a land vehicle, for example a high speed train, with velocity
greater than 110 km/h (30 m/s). This is also the most suitable dynamic for a jittery vehicle
at any speed.

1

LAND

Receiver is in a stable land vehicle with velocity less than 110 km/h (30 m/s).

2

FOOT

Receiver is being carried by a person with velocity less than 11 km/h (3 m/s).

3

AUTO

Receiver monitors dynamics and adapts behavior accordingly

OEM6 Firmware Reference Manual Rev 12

132

Commands

Chapter 2

Qualifying North American Solar Challenge cars annually weave their way through 1000’s of
miles between the US and Canada. GNSS keeps them on track through many intersections on
secondary highways and gives the Calgary team constant intelligence on the competition’s
every move. In this case, with average speeds of 46 miles/hour and at times a jittery vehicle,
AIR is the most suitable dynamic.

OEM6 Firmware Reference Manual Rev 12

133

Commands

Chapter 2

2.4.42 ECHO
Sets port echo
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set a port to echo.
Message ID:

1247

Abbreviated ASCII Syntax:
ECHO [port] echo
Factory Default:
ECHO COM1 OFF
ECHO COM2 OFF
ECHO COM3 OFF
ECHO COM4 OFF

(OEM638 only)

ECHO COM5 OFF

(OEM638 only)

ECHO COM6 OFF

(OEM638 only)

ECHO USB1 OFF
ECHO USB2 OFF
ECHO USB3 OFF
ECHO ICOM1 OFF

(not supported on OEM615)

ECHO ICOM2 OFF

(not supported on OEM615)

ECHO ICOM3 OFF

(not supported on OEM615)

ASCII Example:
ECHO COM1 ON
ECHO ON

Field

1

Field
Type

ASCII
Value

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

H

0

See Table 30,
Communications Port
Identifiers on page 135a

Port to configure
(default = THISPORT)

Enum

4

H

OFF

0

Sets port echo to off

ON

1

Sets port echo to on

Enum

4

H+4

ECHO
Header

2

port

3

echo

Binary
Value

-

Description

a. XCOM and NCOM ports are not supported.

OEM6 Firmware Reference Manual Rev 12

134

Commands

Chapter 2
Table 30: Communications Port Identifiers
ASCII Port Name

Binary Value

NOPORT

0

COM1

1

COM2

2

COM3

3

THISPORT

6

FILE

7

XCOM1

9

XCOM2

10

USB1

13

USB2

14

USB3

15

XCOM3

17

COM4

19

IMU

21

ICOM1

23

ICOM2

24

ICOM3

25

NCOM1

26

NCOM2

27

NCOM3

28

WCOM1

30

COM5

31

COM6

32

BT1

33

COM7

34

COM8

35

COM9

36

COM10

37

OEM6 Firmware Reference Manual Rev 12

135

Commands

Chapter 2

2.4.43 ECUTOFF
Sets satellite elevation cut-off for GPS Satellites
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the elevation cut-off angle for tracked GPS satellites. The receiver does not
start automatically searching for a GPS satellite until it rises above the cut-off angle (when satellite position is
known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they are manually
assigned (see the ASSIGN command on page 67).
In either case, satellites below the ECUTOFF angle are eliminated from the internal position and clock offset
solution computations.
This command permits a negative cut-off angle; it could be used in these situations:
•

The antenna is at a high altitude, and thus can look below the local horizon

•

Satellites are visible below the horizon due to atmospheric refraction
1. Care must be taken when using ECUTOFF command because the signals from lower
elevation satellites are traveling through more atmosphere and are therefore degraded. Use
of satellites below 5 degrees is not recommended.
2. Use the ELEVATIONCUTOFF command (see page 138) to set the cut-off angle for any
system.
3. For the OEM617D and FlexPak6D receivers, this command applies to both the primary and
secondary antennas.

Message ID:

50

Abbreviated ASCII Syntax:
ECUTOFF angle
Factory Default:
ECUTOFF 5.0
ASCII Example:
ECUTOFF 10.0

ASCII
Value

Field Field Type

Binary
Value

1

ECUTOFF
header

-

2

angle

±90.0 degrees

-

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or
binary, respectively

H

0

Elevation cut-off angle relative to horizon

4

H

OEM6 Firmware Reference Manual Rev 12

Float

136

Commands

Chapter 2

A low elevation satellite is a satellite the receiver tracks just above the horizon. Generally, a
satellite is considered low elevation if it is between 0 and 15 degrees above the horizon.
There is no difference between the data transmitted from a low elevation satellite and that
transmitted from a higher elevation satellite. However, differences in the signal path of a low
elevation satellite make their use less desirable. Low elevation satellite signals have more error
due to the increased amount of atmosphere they must travel through. In addition, signals from
low elevation satellites don't fit the assumption that a signal travels in air nearly the same as in a
vacuum. As such, using low elevation satellites in the solution results in greater position
inaccuracies.
The elevation cut-off angle is specified with ECUTOFF to ensure that noisy, low elevation
satellite data below the cut-off is not used in computing a position. If post-processing data, it is
still best to collect all data (even that below the cut-off angle). Experimenting with different cutoff angles can then be done to provide the best results. In cases where there are not enough
satellites visible, a low elevation satellite may actually help in providing a useful solution.

OEM6 Firmware Reference Manual Rev 12

137

Commands

Chapter 2

2.4.44 ELEVATIONCUTOFF
Sets the elevation cut-off angle for tracked satellites
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The ELEVATIONCUTOFF command is used to set the elevation cut-off angle for tracked satellites. The
receiver does not start automatically searching for a satellite until it rises above the cut-off angle (when the
satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless
they are manually assigned (refer to the ASSIGN command on page 67).
In either case, satellites below the elevation cut-off angle are eliminated from the internal position and clock
offset solution computations.
This command permits a negative cut-off angle and can be used in the following situations:
•

The antenna is at a high altitude and thus can look below the local horizon

•

Satellites are visible below the horizon due to atmospheric refraction
1. Care must be taken when using ELEVATIONCUTOFF command because the signals from
lower elevation satellites are traveling through more atmosphere and are therefore
degraded. Use of satellites below 5 degrees is not recommended.
2. This command combines the following commands into one convenient command:
ECUTOFF, GLOECUTOFF, GALECUTOFF, QZSSECUTOFF,
SBASECUTOFF and BDSECUTOFF.
3. For the OEM617D and FlexPak6D receivers, this command applies to both the primary and
secondary antennas.

A low elevation satellite is a satellite the receiver tracks just above the horizon. Generally, a satellite is
considered low elevation if it is between 0 and 15 degrees above the horizon.
There is no difference between the data transmitted from a low elevation satellite and that transmitted from a
higher elevation satellite. However, differences in the signal path of a low elevation satellite make their use
less desirable. Low elevation satellite signals have more error due to the increased amount of atmosphere
they must travel through. In addition, signals from low elevation satellites don't fit the assumption that a signal
travels in air nearly the same as in a vacuum. As such, using low elevation satellites in the solution results in
greater position inaccuracies.
The elevation cut-off angle is specified with the ELEVATIONCUTOFF command to ensure that noisy, low
elevation satellite data below the cut-off is not used in computing a position. If post-processing data, it is still
best to collect all data (even that below the cutoff angle). Experimenting with different cut-off angles can then
be done to provide the best results. In cases where there are not enough satellites visible, a low elevation
satellite may actually help in providing a useful solution.
Message ID:

1735

Abbreviated ASCII Syntax:
ELEVATIONCUTOFF Constellation Angle [Reserved]
Factory default:
ELEVATIONCUTOFF ALL 5.0 0
ASCII Example:
ELEVATIONCUTOFF GPS 5
ELEVATIONCUTOFF ALL 5

OEM6 Firmware Reference Manual Rev 12

138

Commands

Field

1

2

Chapter 2

ASCII
Value

Field Type
ELEVATION
CUTOFF
header

Binary
Value

Description

-

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

GPS

0

Sets the cut-off angle for GPS
Constellation satellites only.

GLONASS 1

Sets the cut-off angle for GLONASS
constellation satellites only

SBAS

2

Sets the cut-off angle for SBAS
constellation satellites only

5

Sets the cut-off angle for Galileo
constellation satellites only

BEIDOU

6

Sets the cut-off angle for BeiDou
constellation satellites only

QZSS

7

Sets the cut-off angle for QZSS
constellation satellites only

ALL

32

Sets the cut-off angle for all satellites
regardless of the constellation.

Constellation GALILEO

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

3

Angle

±90.0 degrees

Elevation cut-off angle relative to the
horizon.

Float

4

H+4

4

Reserved

0

Reserved Field (optional)

Ulong

4

H+8

OEM6 Firmware Reference Manual Rev 12

139

Commands

Chapter 2

2.4.45 ETHCONFIG
Configures Ethernet physical layer
OEM Platform:

628, 638, FlexPak6, ProPak6

This command is used to configure the Ethernet physical layer.
Message ID:

1245

Abbreviated ASCII Syntax:
ETHCONFIG interface_name [speed] [duplex] [crossover] [power_mode]
Factory Default:
ETHCONFIG etha auto auto auto powerdown
ASCII Example:
ETHCONFIG etha 100 full mdix normal
Field

Field Type\

ASCII Value

Binary
Value

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

1

ETHCONFIG
Header

2

interface_ name ETHA

2

AUTO

1

Auto-negotiate speed (default)

10

2

Force 10BaseT

100

3

Force 100BaseT

AUTO

1

Auto-negotiate duplex (default)

HALF

2

Force half duplex

FULL

3

Force full duplex

AUTO

1

Auto-detect crossover (default)

MDI

2

Force MDI (straight through)

MDIX

3

Force MDIX (crossover)

AUTO

1

Energy detect mode

3

4

5

6

speedab

duplexb

crossovera

power_mode

-

-

POWERDOWN 2

Soft power down mode (default)

NORMAL

Normal mode

3

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Enum

4

H+4

Enum

4

H+8

Enum

4

H+12

Enum

4

H+16

a. AUTO is the recommended value for field types Speed and Crossover.
b. If setting Speed and/or Duplex to AUTO, both must be set to AUTO at the same time otherwise a “parameter 3 out of
range” error occurs.

OEM6 Firmware Reference Manual Rev 12

140

Commands

Chapter 2

2.4.46 EVENTINCONTROL
Controls Event-In input triggers
OEM Platform:

638, ProPak6

This command controls up to four Event-In input triggers.
Each input can be used as either an event strobe or a pulse counter. When used as an event strobe, an
accurate GPS time or position is applied to the rising or falling edge of the input event pulse (refer to the
MARKxTIME logs on page 519 or MARKxPOS logs on page 516). Each input strobe is usually associated
with a separate device, therefore different solution output lever arm offsets can be applied to each strobe.
When used as an Event Input Trigger, it is possible to overwhelm the receiver with a very high rate of input
events that impacts the performance of the receiver. For this reason, the receiver internally throttles the rate
at which it responds to input events. The limit is 200 Hz. Throttling only applies when the input is used as an
event strobe input; throttling does not apply when used in pulse counter mode.
When used as a pulse counter, an internal accumulator is used to increment each input pulse and output
each second using the MARKCOUNT log coordinated with 1 PPS. The accumulator begins counting from
zero with each new second.
In some cases a pin on the connector may have more than one function. The function is chosen
using the IOCONFIG command (see page 180).
Message ID:

1637

Abbreviated ASCII Syntax:
EVENTINCONTROL mark switch [polarity] [t_bias] [t_guard]
ASCII Example:
EVENTINCONTROL MARK1 ENABLE

Binary
Value

Field Field Type ASCII Value

1

2

EVENTIN
CONTROL header

mark

-

MARK1

0

MARK2

1

MARK3

2

MARK4

3

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Choose which Event-In Mark to change.
This value must be specified.

4

H

Enum

141

Commands

Chapter 2

Field Field Type ASCII Value

3

switch

4

polarity

5

t_bias

6

t_guard

Binary
Value

Description

DISABLE

0

Disables Event Input

EVENT

1

Enables Event Input (default)

COUNT

2

Increments a counter with each input
pulse (for example, a wheel sensor. The
period of the count is from 1 PPS to the
next PPS.

ENABLE

3

A synonym for the EVENT option (for
compatibility with previous releases)

NEGATIVE

0

Negative polarity (default)

POSITIVE

1

Positive polarity

Format

Binary Binary
Bytes Offset

Enum

4

H+4

Enum

4

H+8

4

H+12

4

H+16

default: 0
Time bias in nanoseconds
minimum: -999,999,999
Long
maximum: 999,999,999 If Field 3 is COUNT, this field is not used.
default: 4
minimum: 2
maximum: 3,599,999

The time guard specifies the minimum
number of milliseconds between pulses.
This is used to coarsely filter the input
pulses.

Ulong

If Field 3 is COUNT, this field is not used.

OEM6 Firmware Reference Manual Rev 12

142

Commands

Chapter 2

2.4.47 EVENTOUTCONTROL
Control Event-Out properties
OEM Platform:

638, ProPak6

This command configures up to seven Event-Out output strobes. The event strobes toggle between 3.3 V
and 0 V. The pulse consists of two periods: one active period followed by a not active period. The start of the
active period is synchronized with the top of the GNSS time second and the signal polarity determines
whether the active level is 3.3 V or 0 V. The not active period immediately follows the active period and has
the alternate voltage.
The outputs that are available vary according to the platform. In some cases, a pin on the
connector may have more than one function. The function is chosen using the IOCONFIG
command (see page 180).
On the OEM638, MARK1 through MARK7 are available. On the ProPak6 only MARK1 through
MARK3 and MARK7 (IMU_EVENT_OUT) are available on the Personality Port.



A 100MHz clock is used internally to create these output signals. As a result, all period values
are limited to 10ns steps.

Message ID:

1636

Abbreviated ASCII Syntax:
EVENTOUTCONTROL mark switch [polarity] [active_period] [non_active_period]
ASCII Example:
EVENTOUTCONTROL MARK3 ENABLE
Field

1

2

3

ASCII
Value

Field Type
EVENTOUT
CONTROL
header

mark

switch

Binary
Value

Description

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Choose which Event-Out Mark to
Enum
change. This value must be specified.

4

H

4

H+4

-

-

MARK1

0

MARK2

1

MARK3

2

MARK4

3

MARK5

4

MARK6

5

MARK7

6

DISABLE

0

Disables the Event output

ENABLE

1

Enables the Event output
(default)

OEM6 Firmware Reference Manual Rev 12

Format

Enum

143

Commands

Field

4

5

6

Chapter 2
ASCII
Value

Field Type

polarity

active_period

non_active_
perioda

a

Binary
Value

Description

NEGATIVE 0

Negative polarity (active = 0V)
(default)

POSITIVE

Positive polarity (active = 3.3V)

1

Format

Binary Binary
Bytes Offset

Enum

4

H+8

4

H+12

4

H+16

Active period of the Event Out signal in
nanoseconds. 10ns steps must be
used.

default: 500,000,000
Ulong
minimum: 10
maximum: 999,999,990 Note: If the value entered is not a
multiple of 10, it will be rounded down
to the nearest 10ns.
Non-active period of the Event Out
signal in nanoseconds. 10ns steps
must be used.

default: 500,000,000
Ulong
minimum: 10
maximum: 999,999,990 Note: If the value entered is not a
multiple of 10, it will be rounded down
to the nearest 10ns.

a. The sum of the active period and inactive period should total 1,000,000,000ns. If the total exceeds one full second, the
active period duration will be as given and the inactive period will be the remainder of the second.
Alternately, the sum of the active and inactive periods may be less than 1,000,000,000ns, but should divide evenly into
1,000,000,000ns. For example, if the active period is 150,000,000 and the inactive period is 50,000,000, the sum of the
periods is 200,000,000ns which divides evenly into one full second.
If the sum is less than one full second and not an even multiple, the last active or inactive period is stretched or truncated
to equal one full second.
A 100MHz clock is used internally to create these output signals. As a result, all period values are limited to 10ns steps.

OEM6 Firmware Reference Manual Rev 12

144

Commands

Chapter 2

2.4.48 EXTERNALCLOCK
Sets external clock parameters
OEM Platform:

628, 638, ProPak6

Overview
The EXTERNALCLOCK command is used to enable the OEM6 card to operate with an optional external
oscillator. You are able to optimally adjust the clock model parameters of these receivers for various types of
external clocks.
1. This command affects the interpretation of the CLOCKMODEL log.
2. If the EXTERNALCLOCK command is enabled and set for an external clock (TCXO, OCXO,
RUBIDIUM, CESIUM or USER) and the CLOCKADJUST command (see page 101) is
ENABLED, then the clock steering process takes over the VARF output pins and may
conflict with a previously entered FREQUENCYOUT command (see page 155). If
clocksteering is not used with the external oscillator, the clocksteering process must be
disabled by using the CLOCKADJUST DISABLE command.
3. When using the EXTERNALCLOCK and CLOCKADJUST commands together, issue the
EXTERNALCLOCK command first to avoid losing satellites.
There are three steps involved in using an external oscillator:
1. Follow the procedure outlined in the OEM6 Family Installation and Operation User Manual
(OM-20000128) to connect an external oscillator to the OEM6.
2. Using the EXTERNALCLOCK command, select a standard oscillator and its operating frequency.
3. Using the CLOCKADJUST command, disable the clocksteering process if external clocksteering is not
used.

Theory
An unsteered oscillator can be approximated by a three-state clock model, with two states representing the
range bias and range bias rate, and a third state assumed to be a Gauss-Markov (GM) process representing
the range bias error generated from satellite clock dither. The third state is included because the Kalman filter
assumes an (unmodeled) white input error. The significant correlated errors produced by satellite clock dither
are obviously not white and the Markov process is an attempt to handle this kind of short term variation.
The internal units of the new clock model’s three states (offset, drift and GM state) are metres, metres per
second and metres. When scaled to time units for the output log, these become seconds, seconds per
second and seconds, respectively.
The user has control over 3 process noise elements of the linear portion of the clock model. These are the h0,
h-1 and h-2 elements of the power law spectral density model used to describe the frequency noise
characteristics of oscillators:

h –2 h –1
S y  f  = -------2 + ------- + h 0 + h 1 f + h 2 f
f
f

2

where f is the sampling frequency and Sy(f) is the clock’s power spectrum. Typically only h0, h-1, and h-2
affect the clock’s Allan variance and the clock model’s process noise elements.

OEM6 Firmware Reference Manual Rev 12

145

Commands

Chapter 2

Usage
Before using an optional external oscillator, several clock model parameters must be set. There are default
settings for a Voltage-Controlled Temperature-Compensated Crystal Oscillator (VCTCXO), Ovenized Crystal
Oscillator (OCXO), Rubidium and Cesium standard, which are given in Table 31, Clock Type on page 147.
You may alternatively choose to supply customized settings.
The EXTERNALCLOCK command determines whether the receiver uses its own internal
temperature-compensated crystal oscillator or that of an external oscillator as a frequency
reference. It also sets which clock model is used for an external oscillator.
To force the OEM6 to use the internal oscillator, use the EXTERNALCLOCK DISABLE command
and physically disconnect the external oscillator input. Do not use the EXTERNALCLOCK
OCXO, CESIUM, RUBIDIUM or USER parameters if there is no external oscillator connected to
the OEM6.
Message ID:

230

Abbreviated ASCII Syntax:
EXTERNALCLOCK clocktype [freq] [h0[h-1[h-2]]]
Factory Default:
EXTERNALCLOCK disable
ASCII Examples:
EXTERNALCLOCK USER 10MHZ 1.0167e-23 6.87621e-25 8.1762e-26
EXTERNALCLOCK TCXO 5MHZ

Field

ASCII
Value

Field Type

Binary
Value

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

1

EXTERNAL
CLOCK header

-

2

clocktype

See Table 31, Clock
Clock type
Type on page 147

3

freq

4

h0

5

h-1

6

h -2

-

5MHz

1

10MHz

2

1.0 e-35 to
1.0 e-18
1.0 e-35 to
1.0 e-18
1.0 e-35 to
1.0 e-18

OEM6 Firmware Reference Manual Rev 12

Format

Optional frequency. If a value is not
specified, the default is 5 MHz

Binary Binary
Bytes Offset

H

0

Enum

4

H

Enum

4

H+4

Optional timing standards. These fields
Double 8
are only valid when the USER
clocktype is selected. Do not use h
values with VCTCXO, OCXO, CESIUM
Double 8
or RUBIDIUM clock types. The h values
for these options are fixed, see
Table 32, Pre-Defined Values for
Double 8
Oscillators on page 147 (default=0.0)

H+8
H+16
H+24

146

Commands

Chapter 2
Table 31: Clock Type
ASCII

Binary

Description

DISABLE

0

Turns the external clock input off, reverts back to the on-board VCTCXO.
When used in a binary command, use the parameter defaults
(i.e. freq=1, h0=0, h-1=0, h-2=0).

TCXO

1

Sets the predefined values for a VCTCXO

OCXO

2

Sets the predefined values for an OCXO

RUBIDIUM

3

Sets the predefined values for a rubidium oscillator

CESIUM

4

Sets the predefined values for a cesium oscillator

USER

5

Defines custom process noise elements
Table 32: Pre-Defined Values for Oscillators
h0

h -1

h -2

VCTCXO

1.0 e-21

1.0 e-20

1.0 e-20

OCXO

2.51 e-26

2.51 e-23

2.51 e-22

Rubidium

1.0 e-23

1.0 e-22

1.3 e-26

Cesium

2.0 e-20

7.0 e-23

4.0 e-29

Clock Type

OEM6 Firmware Reference Manual Rev 12

147

Commands

Chapter 2

2.4.49 FIX
Constrains to fixed height or position
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to fix height or position to the input values. For various applications, fixing these
values can assist in improving acquisition times and accuracy of position or corrections. For example, fixing
the position is a requirement for differential base stations as it provides the reference position to base the
differential corrections from.
If you enter a FIXPOSDATUM command (see page 151) the FIX command is then issued internally with the
FIXPOSDATUM command values translated to WGS84. It is the FIX command that appears in the
RXCONFIG log. If the FIX or the FIXPOSDATUM command are used, their newest values overwrite the
internal FIX values.
1. It is strongly recommended that the FIX POSITION entered be accurate to within a few
metres. This level of accuracy can be obtained from a receiver using single point
positioning once 5 or 6 satellites are being tracked.
2. FIX POSITION should only be used for base station receivers. Applying FIX POSITION to a
rover switches it from RTK mode to a fixed position mode. Applying FIX POSITION to the
rover does not speed up ambiguity resolution.
3. Any setting other than FIX POSITION disables output of differential corrections unless the
MOVINGBASESTATION command is set to ENABLE, see page 206.
4. You can fix the position of the receiver using latitude, longitude and height in Mean Sea
Level (MSL) or ellipsoidal parameters depending on the UNDULATION setting. The factory
default for the UNDULATION (page 323) setting is EGM96, where the height entered in the
FIX command is set as MSL height. If you change the UNDULATION setting to USER 0,
the height entered in the FIX command is set as ellipsoidal height (refer to Table 33, FIX
Parameters on page 149).
Error checking is performed on the entered fixed position by the integrity monitor. Depending on the result of
this check, the position can be flagged with the following statuses.
•

SOL_COMPUTED: The entered position has been confirmed by measurement.

•

PENDING: Insufficient measurements are available to confirm the entered position.

•

INTEGRITY_WARNING: First level of error when an incorrect position has been entered. The
fixed position is off by approximately 25-50 meters.

•

INVALID_FIX: Second level of error when an inaccurate position has been entered. The fixed
position is off by a gross amount.
An incorrectly entered fixed position will be flagged either INTEGRITY_WARNING or
INVALID_FIX. This will stop output of differential corrections or RTK measurements and can
affect the clock steering and satellite signal search. Checks on the entered fixed position can be
disabled using the RAIMMODE command (see page 239).

Message ID:

44

Abbreviated ASCII Syntax:
FIX type [param1 [param2 [param3]]]
Factory Default:
FIX none

OEM6 Firmware Reference Manual Rev 12

148

Commands

Chapter 2

ASCII Example:
FIX none
FIX HEIGHT 4.567
FIX position 51.116 -114.038 1065.0
In order to maximize the absolute accuracy of RTK rover positions, the base station coordinates
must be fixed to their known position using the FIX POSITION [lat][lon][hgt]
command.

ASCII
Value

Field Field Type

Binary
Value

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

1

FIX header

-

-

2

type

See Table 34, Fix Types
Fix type
on page 150

3

param1

4

param2

5

param3

See Table 33, FIX
Parameters on
page 149

Enum

Binary Binary
Bytes Offset

H

0

4

H

Parameter 1

Double 8

H+4

Parameter 2

Double 8

H + 12

Parameter 3

Double 8

H + 20

Table 33: FIX Parameters
ASCII Type Name
AUTO
HEIGHT

Parameter 1
Not used
Default MSL height a b
(-1000 to 20000000 m)

Parameter 2

Parameter 3

Not used

Not used

Not used

Not used

Not used

Not used

NONE

Not used

POSITION

Lat (-90 to 90 degrees)
Lon (-360 to 360 degrees)
Default MSL height a b
where a ‘-’ sign denotes south where a ‘-’ sign denotes west
(-1000 to 20000000 m)
and a ‘+’ sign denotes north and a ‘+’ sign denotes east

a. For a discussion on height, refer to An Introduction to GNSS available on our website.
b. See also Note #4 on page 148.

OEM6 Firmware Reference Manual Rev 12

149

Commands

Chapter 2
Table 34: Fix Types

ASCII
Name

Binary
Value

Description

NONE

0

Unfix. Clears any previous FIX commands

AUTO

1

Configures the receiver to fix the height at the last calculated value if the number of
satellites available is insufficient for a 3-D solution. This provides a 2-D solution. Height
calculation resumes when the number of satellites available allows a 3-D solution

HEIGHT

2

Configures the receiver in 2-D mode with its height constrained to a given value. This
command is used mainly in marine applications where height in relation to mean sea
level may be considered to be approximately constant. The height entered using this
command is referenced to the mean sea level, see the BESTPOS log on page 393 (is
in metres). The receiver is capable of receiving and applying differential corrections
from a base station while fix height is in effect. The fix height command overrides any
previous FIX HEIGHT or FIX POSITION command.
Note: This command only affects pseudorange corrections and solutions.
Configures the receiver with its position fixed. This command is used when it is
necessary to generate differential corrections.

POSITION

3

For both pseudorange and differential corrections, this command must be properly
initialized before the receiver can operate as a GNSS base station. Once initialized, the
receiver computes differential corrections for each satellite being tracked. The
computed differential corrections can then be output to rover stations by utilizing any of
the following receiver differential corrections data log formats: RTCM, RTCMV3, RTCA
or CMR. See the OEM6 Family Installation and Operation User Manual (OM-20000128)
for information about using the receiver for differential applications.
The values entered into the fix position command should reflect the precise position of
the base station antenna phase center. Any errors in the fix position coordinates directly
bias the corrections calculated by the base receiver.
The receiver performs all internal computations based on wgs84 and the DATUM
command is defaulted as such. The datum in which you choose to operate (by changing
the DATUM command) is internally converted to and from wgs84. Therefore, all
differential corrections are based on wgs84, regardless of your operating datum.
The FIX POSITION command overrides any previous FIX HEIGHT or FIX
POSITION command settings.

OEM6 Firmware Reference Manual Rev 12

150

Commands

Chapter 2

2.4.50 FIXPOSDATUM
Sets position in a specified datum
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the FIX position in a specific datum. The input position is transformed into the
same datum as that in the receiver’s current setting. The FIX command (see page 148) is then issued
internally with the FIXPOSDATUM command values. It is the FIX command that appears in the RXCONFIG
log. If the FIX or the FIXPOSDATUM command are used, their newest values overwrite the internal FIX
values.
Message ID:

761

Abbreviated ASCII Syntax:
FIXPOSDATUM datum lat lon height
Factory Default:
fix none
ASCII Example:
FIXPOSDATUM USER 51.11633810554 -114.03839550586 1048.2343
Use the FIXPOSDATUM command in a survey to fix the position with values from another known
datum, rather than manually transforming them into WGS84.

Field

1

ASCII
Value

Field Type

FIXPOSDATUM
header

Binary
Value

-

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Datum ID

Enum

4

H

Description

2

datum

See Table 26, Datum
Transformation
Parameters on
page 116

3

lat

90

Latitude (degrees)

Double 8

H+4

4

lon

360

Longitude (degrees)

Double 8

H+12

5

height

-1000 to 20000000

Mean sea level (MSL) height (m) a Double 8

H+20

a. For a discussion on height, refer to our book An Introduction to GNSS, available on our website.

OEM6 Firmware Reference Manual Rev 12

151

Commands

Chapter 2

2.4.51 FORCEGLOL2CODE
Forces receiver to track GLONASS satellite L2 P or L2 C/A code
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to force the receiver to track GLONASS satellite L2 P-code or L2 C/A code. This
command has no effect if the channel configuration contains both GLONASS L2 P and L2 C/A channels.
Message ID:

1217

Abbreviated ASCII Syntax:
FORCEGLOL2CODE L2type
Factory Default:
FORCEGLOL2CODE default
ASCII Example:
FORCEGLOL2CODE p

Field

ASCII
Value

Field Type

1

FORCEGLOL2CODE
header

2

L2type

Binary
Value

-

See Table 35,
GLONASS L2
Code Type

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or
binary, respectively

H

0

GLONASS L2 code type

4

H

Enum

Table 35: GLONASS L2 Code Type
Binary

ASCII

Description

1

P

L2 P-code or L2 Precise code

2

C

L2 C/A code or L2 Coarse/Acquisition code

3

DEFAULT

Set to channel default

Table 36: Signals Tracked – Channel Configuration and L2type Option
L2type Option Selected
L2 Signal

P

C

DEFAULT

L2

P

C

P

L2C

P

C

C

L2PL2C

Both

Both

Both

OEM6 Firmware Reference Manual Rev 12

152

Commands

Chapter 2

2.4.52 FORCEGPSL2CODE
Forces receiver to track GPS satellite L2 P or L2C code
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to force the receiver to track GPS L2 P-code or L2C code. AUTO tells the receiver to
use L2C code type if available and L2 P-code if L2C code is not available. This command has no effect if the
channel configuration contains both GPS L2 P and L2 C channels.
Message ID:

796

Abbreviated ASCII Syntax:
FORCEGPSL2CODE L2type
Factory Default:
FORCEGPSL2CODE default
ASCII Example:
FORCEGPSL2CODE p

Field

ASCII
Value

Field Type

1

FORCEGPSL2CODE
header

2

L2type

Binary
Value

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

See Table 37, GPS
GPS L2 code type
L2 Code Type

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Table 37: GPS L2 Code Type
Binary

ASCII

Description

0

AUTO

Receiver uses the L2C if available and L2 P otherwise. An exception is when the
receiver is doing RTK positioning. In that case, AUTO changes the L2 code type being
tracked to match the L2 code type found in the base station corrections, which ensures
the greatest number of satellites are used in the solution.

1

P

L2 P-code or L2 Precise code

2

C

L2C code or L2 Civilian code

3

DEFAULT Set to channel default

OEM6 Firmware Reference Manual Rev 12

153

Commands

Chapter 2
Table 38: Signals Tracked – Channel Configuration and L2type Option
L2type Option Selected

L2 Signal

Auto

P

C

DEFAULT

L2

C if available, P(Y) otherwise

P(Y)

C

P(Y)

L2C

C if available, P(Y) otherwise

P(Y)

C

C

L2P

C if available, P(Y) otherwise

P(Y)

C

P(Y)

L2AUTO

C if available, P(Y) otherwise

P(Y)

C

C if available, P(Y) otherwise

L2PL2C

Both

Both

Both

Both

OEM6 Firmware Reference Manual Rev 12

154

Commands

Chapter 2

2.4.53 FREQUENCYOUT
Sets output pulse train available on VARF
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the output pulse train available on the Variable Frequency (VARF) pin. The
output waveform is coherent with the 1PPS output, see the usage note and Figure 4, Pulse Width and 1PPS
Coherency on page 155.
1. If the CLOCKADJUST command is ENABLED (page 101) and the receiver is configured to
use an external reference frequency (set in the EXTERNALCLOCK command (see page 145)
for an external clock - TCXO, OCXO, RUBIDIUM, CESIUM, or USER), then the clock
steering process takes over the VARF output pins and may conflict with a previously
entered FREQUENCYOUT command.
2. Figure 4, Pulse Width and 1PPS Coherency on page 155 shows how the chosen pulse
width is frequency locked but not necessarily phase locked when using ENABLE option. To
synchronize the phase, use ENABLESYNC option.
Message ID:

232

Abbreviated ASCII Syntax:
FREQUENCYOUT [switch] [pulsewidth] [period]
Factory Default:
FREQUENCYOUT disable
ASCII Example:
FREQUENCYOUT ENABLE 2 4
This example generates a 50% duty cycle 25 MHz square wave.
Figure 4: Pulse Width and 1PPS Coherency

OEM6 Firmware Reference Manual Rev 12

155

Commands

Chapter 2

When using ENABLE option, the VARF and 1PPS are not necessarily in phase as described in
Figure 4, Pulse Width and 1PPS Coherency on page 155. To align the phase of the VARF with
the 1PPS, use the ENABLESYNC option and the VARF phase will be synchronized to the
leading edge of the 1PPS pulse. Note that if the VARF and 1PPS frequencies are not even
multiples of each other, this may cause the VARF to have a shorter cycle pulse prior to each
1PPS pulse. 1PPS is not affected.

Field

1

2

ASCII
Value

Field Type

FREQUENCYOUT
header

switch

Binary
Value

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

DISABLE 0

Disable causes the output to be fixed
low (if NONE specified, defaults to
DISABLE)

ENABLE

1

Enables customized frequency output

ENABLE
SYNC

2

Enable customized frequency output
synchronized to PPS

Binary Binary
Bytes Offset

H

0

Enum

4

H

Ulong

4

H+4

Ulong

4

H+8

Number of 10 ns steps for which the
output is high.
3

pulsewidth

Duty cycle = pulsewidth / period. If
(0 to 1073741823) pulsewidth is greater than or equal to
the period, the output is a high DC
signal. If pulsewidth is 1/2 the period,
then the output is a square wave
(default = 0)
Signal period in 10 ns steps.

4

period

(0 to 1073741823)

Frequency Output = 100,000,000 /
Period
(default = 0)

Table 39: VARF Output Ranges
OEM6 Card

Range

OEM615 Strobes

0-5 MHz

OEM617 Strobes

0-5 MHz

OEM617D Strobes

0-5 MHz

OEM628 Strobes

0-50 MHz

OEM638 Strobes

0.1 Hz-50 MHz

OEM6 Firmware Reference Manual Rev 12

156

Commands

Chapter 2

2.4.54 FRESET
Clears selected data from NVM and reset
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to clear data which is stored in non-volatile memory. Such data includes the almanac,
ephemeris, and any user specific configurations. The commands, ephemeris, almanac, and L-Band related
data, excluding the subscription information, can be cleared by using the STANDARD target. The receiver is
forced to reset.
FRESET STANDARD (which is also the default) causes most commands, ephemeris, GNSS and
almanac data previously saved to NVM to be erased.



The FRESET STANDARD command will erase all user settings. You should know your
configuration (by requesting the RXCONFIGA log) and be able to reconfigure the receiver
before you send the FRESET command.

Message ID:

20

Abbreviated ASCII Syntax:
FRESET [target]
Input Example:
FRESET COMMAND

Field

ASCII
Value

Field Type

Binary
Value

1

FRESET
header

-

2

target

See Table 40,
FRESET Target
on page 158

-

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

What data is to be reset by the receiver
(default = STANDARD)

4

H

Enum

If you are receiving no data or random data from your receiver, try the following before
contacting NovAtel:
•

Verify that the receiver is tracking satellites

•

Check the integrity and connectivity of power and data cables

•

Verify the baud rate settings of the receiver and terminal device (your PC, data logger
or laptop)

•

Switch COM ports

•

Issue the FRESET command.

OEM6 Firmware Reference Manual Rev 12

157

Commands

Chapter 2
Table 40: FRESET Target

Binary

0

ASCII

STANDARD

Description
Resets commands (except CLOCKCALIBRATION and MODEL), ephemeris
and almanac (default).
Also resets all L-Band related data except for the subscription information.
Does not reset the Ethernet settings.

1

COMMAND

Resets the stored commands (saved configuration)

2

GPSALMANAC

Resets the stored GPS almanac

3

GPSEPHEM

Resets the stored GPS ephemeris

4

GLOEPHEM

Resets the stored GLONASS ephemeris

5

MODEL

Resets the currently selected model

11

CLKCALIBRATION

Resets the parameters entered using the CLOCKCALIBRATE command

20

SBASALMANAC

Resets the stored SBAS almanac

21

LAST_POSITION

Resets the position using the last stored position

31

GLOALMANAC

Resets the stored GLONASS almanac

39

GALFNAV_EPH

Resets the stored GALFNAV ephemeris

40

GALINAV_EPH

Resets the stored GALINAV ephemeris

45

GALFNAV_ALM

Resets the stored GALFNAV almanac

46

GALINAV_ALM

Resets the stored GALINAV almanac

52

PROFILEINFO

Resets the stored profile configurations

54

QZSSALMANAC

Resets the QZSS almanac

55

QZSSEPHEMERIS

Resets the QZSS ephemeris

57

BDSALMANAC

Resets the BeiDou almanac

58

BDSEPHEMERIS

Resets the BeiDou ephemeris

60

USER_ACCOUNTS

Resets the admin password to the default (the receiver‘s PSN)

64

ETHERNET

Resets the stored Ethernet settings

OEM6 Firmware Reference Manual Rev 12

158

Commands

Chapter 2

2.4.55 GALECUTOFF
Sets elevation cut-off angle for Galileo satellites
OEM Platform:

628, 638, FlexPak6, ProPak6

This command is used to set the elevation cut-off angle for tracked Galileo satellites. The receiver does not
start automatically searching for a satellite until it rises above the cut-off angle (when satellite position is
known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they were manually
assigned (see the ASSIGN command on page 67).
In either case, satellites below the GALECUTOFF angle are eliminated from the internal position and clock
offset solution computations.
This command permits a negative cut-off angle and can be used in the following situations:
•

The antenna is at a high altitude and thus look below the local horizon

•

Satellites are visible below the horizon due to atmospheric refraction
1. Care must be taken when using GALECUTOFF because the signals from lower elevation
satellites are traveling through more atmosphere and are therefore degraded. Use of
satellites below 5 degrees is not recommended.
2. Use the ELEVATIONCUTOFF command (see page 138) to set the cut-off angle for all other
systems.

Message ID:

1114

Abbreviated ASCII Syntax:
GALECUTOFF angle
Factory Default:
GALECUTOFF 5.0
ASCII Example:
GALECUTOFF 10.0

Field

ASCII
Value

Field Type

Binary
Value

1

GALECUTOFF
header

-

2

angle

±90.0 degrees

-

OEM6 Firmware Reference Manual Rev 12

Binary
Bytes

Binary
Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Elevation cut-off angle relative to horizon Float

4

H

Description

Format

159

Commands

Chapter 2

2.4.56 GENERATEALIGNCORRECTIONS
Configure ALIGN Master
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to configure the ALIGN Master and starts sending out ALIGN RTCA corrections
through the specified port. This command is equivalent to sending the following commands to the Master:
unlogall [port]
fix none
movingbasestation enable
interfacemode [port] novatel rtca
com [port] [baud] N 8 1 N OFF ON
log [port] rtcaobs3 ontime [rate = 1/ obsreqrate]
log [port] rtcarefext ontime [rate = 1/ refextreqrate]
Message ID:

1349

Abbreviated ASCII Syntax:
GENERATEALIGNCORRECTIONS port [baud] [obsreqrate] [refextreqrate]
ASCII Example:
GENERATEALIGNCORRECTIONS COM2 230400 10 10

Field

ASCII
Value

Field Type

Binary
Value

Description

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

1

GENERATEALIGN
CORRECTIONS
header

2

port

See Table 58, COM Port Port through which corrections
Identifiers on page 273 should be sent out

3

-

Format

Binary Binary
Bytes Offset

H

0

Enum

4

H

baud

9600, 19200, 38400,
Communication baud rate (bps)
57600, 115200, 230400,
Ulong
(default = 9600)
460800 or 921600

4

H+4

4

obsreqrate

1, 2, 4, 5, 10 or 20

RTCAOBS3 data rate in Hz
(default = 1)

Ulong

4

H+8

5

refextreqrate

0, 1, 2, 4, 5, 10 or 20

RTCAREFEXT data rate in Hz
(default = 1)

Ulong

4

H+12

OEM6 Firmware Reference Manual Rev 12

160

Commands

Chapter 2

2.4.57 GENERATEDIFFCORRECTIONS
Sends a preconfigured set of differential corrections
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to configure the receiver to send a preconfigured set of differential pseudorange
corrections.
Message ID:

1296

Abbreviated ASCII Syntax:
GENERATEDIFFCORRECTIONS mode [port]
ASCII Example:
GENERATEDIFFCORRECTIONS RTCM COM2
Preconfigured set of differential corrections sent when RTCM:
RTCM1 ontime 1
RTCM31 ontime 1
RTCM3 ontime 10
Preconfigured set of differential corrections sent when RTCA:
RTCA1 ontime 1
RTCAREF ontime 10

Field

ASCII
Value

Field Type

1

GENERATEDIFF
CORRECTIONS header

2

mode

3

port

Binary
Value

-

RTCM

2

RTCA

3

See Table 58, COM
Port Identifiers on
page 273

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

Serial port interface mode identifier.
See Table 42, Serial Port Interface Enum
Modes on page 178

4

H

Port to configure (default =
THISPORT)

4

H+4

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

Enum

161

Commands

Chapter 2

2.4.58 GENERATERTKCORRECTIONS
Sends a preconfigured set of RTK corrections
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to configure the receiver to send a preconfigured set of RTK (carrier phase)
corrections.
Message ID:

1260

Abbreviated ASCII Syntax:
GENERATERTKCORRECTIONS mode [port]
ASCII Example:
GENERATERTKCORRECTIONS RTCMV3 COM2
Preconfigured set of differential corrections sent when RTCM:
RTCM1819 ontime 1
RTCM3 ontime 10
RTCM22 ontime 10
RTCM23 ontime 60
RTCM24 ontime 60
Preconfigured set of differential corrections sent when RTCMV3:
RTCM1004
RTCM1012
RTCM1006
RTCM1008
RTCM1033

ontime
ontime
ontime
ontime
ontime

1
1
10
10
10

Preconfigured set of differential corrections sent when RTCA:
RTCAOBS2 ontime 1
RTCAREF ontime 10
Preconfigured set of differential corrections sent when CMR:
CMROBS ontime 1
CMRGLOOBS ontime 1
CMRREF ontime 10
Preconfigured set of differential corrections sent when NOVATELX COM2:
novatelxobs ontime 1

Field

1

Field Type

GENERATERTK
CORRECTIONS header

Binary
Value

ASCII Value

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

Binary Binary
Bytes Offset

H

0

162

Commands

Field

2

3

Field Type

mode

port

Chapter 2
Binary
Value

ASCII Value
RTCM

2

RTCA

3

CMR

4

RTCMV3

14

NOVATELX

35

See Table 58, COM Port
Identifiers on page 273)

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

Serial port interface mode
identifier. For more information,
see Table 42, Serial Port
Interface Modes on page 178

Enum

4

H

Port to configure
(default = THISPORT)

Enum

4

H+4

Description

163

Commands

Chapter 2

2.4.59 GGAQUALITY
Customizes the GPGGA GPS quality indicator
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to customize the NMEA GPGGA GPS quality indicator. See also the GPGGA log on
page 460.
Message ID:

691

Abbreviated ASCII Syntax:
GGAQUALITY #entries [pos type1][qual1] [pos type2] [qual2]...
Input Example 1:
GGAQUALITY 1 waas 2
Makes the WAAS solution type show 2 as the quality indicator.
Input Example 2:
GGAQUALITY 2 waas 2 NARROW_FLOAT 3
Makes the WAAS solution type show 2 and the NARROW_FLOAT solution type show 3, as their quality
indicators.
Input Example 3:
GGAQUALITY 0
Sets all the quality indicators back to the default.
Some solution types, see Table 84, Position or Velocity Type on page 396, share a quality
indicator. For example, converged PPP and NARROW_FLOAT all share an indicator of 5. This
command can be used to customize an application to have unique indicators for each solution
type. Sets all the quality indicators back to the default. Refer to Table 104, GPS Quality
Indicators on page 461.

Field

ASCII
Value

Field Type

1

GGAQUALITY
header

2

#entries

3

pos type1

4

qual1

Binary
Value

-

0-20

See Table 84,
Position or Velocity
Type on page 396

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

The number of position types that are
being remapped (20 max)

Ulong

4

H

The 1st position type that is being
remapped

Enum

4

H+4

The remapped quality indicator value
that will appear in the GPGGA log for
the 1st position type

Ulong

4

H+8

164

Commands

Field

Field Type

Chapter 2
ASCII
Value

Binary
Value

Description

Format

Binary Binary
Bytes Offset

5

pos type2

See Table 84,
Position or Velocity
Type on page 396

The 2nd position type that is being
remapped, if applicable

Enum

4

H+12

6

qual2

See Table 84,
Position or Velocity
Type on page 396

The remapped quality indicator value
that will appear in the GPGGA log for
the 2nd position type

Ulong

4

H+16

...

Next solution type and quality indicator set, if applicable

OEM6 Firmware Reference Manual Rev 12

Variable

165

Commands

Chapter 2

2.4.60 GLIDEINITIALIZATIONPERIOD
Configures the GLIDE initialization period
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the initialization period for Relative PDP (GLIDE) when pseudorange measurements are
used more heavily. During the initialization period, the PDP output position is not as smooth as during full
GLIDE operation, but it helps to get better absolute accuracy at the start. The longer this period, the better
the absolute accuracy that can be attained. The maximum period that can be set through
GLIDEINITIALIZATIONPERIOD is 1200 seconds.
Message ID:

1760

Abbreviated ASCII Syntax:
GLIDEINITIALIZATIONPERIOD initialization
Factory Default:
GLIDEINITIALIZATIONPERIOD 300
ASCII Example:
GLIDEINITIALIZATIONPERIOD 100

Field

ASCII
Value

Field Type

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

0 -1200 s

Initialization period for GLIDE in
seconds

Double

8

H

1

GLIDEINITIALIZATION
PERIOD header

2

initialization

OEM6 Firmware Reference Manual Rev 12

166

Commands

Chapter 2

2.4.61 GLOECUTOFF
Sets GLONASS satellite elevation cut-off
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the elevation cut-off angle for tracked GLONASS satellites. The receiver does
not start automatically searching for a satellite until it rises above the cut-off angle (when satellite position is
known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they were manually
assigned (see the ASSIGN command on page 67).
In either case, satellites below the GLOECUTOFF angle are eliminated from the internal position and clock
offset solution computations.
This command permits a negative cut-off angle and can be used in the following situations:
•

The antenna is at a high altitude and can look below the local horizon

•

Satellites are visible below the horizon due to atmospheric refraction
1. Care must be taken when using GLOECUTOFF because the signals from lower elevation
satellites are traveling through more atmosphere and are therefore degraded. Use of
satellites below 5 degrees is not recommended.
2. Use the ELEVATIONCUTOFF command (see page 138) to set the cut-off angle for any
system.
3. For the OEM617D and FlexPak6D receivers, this command applies to both the primary and
secondary antennas.

Message ID:

735

Abbreviated ASCII Syntax:
GLOECUTOFF angle
Factory Default:
GLOECUTOFF 5.0
ASCII Example:
GLOECUTOFF 0

Field

ASCII
Value

Field Type

Binary
Value

1

GLOECUTOFF
header

-

2

angle

±90.0 degrees

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Elevation cut-off angle relative to horizon Float

4

H

167

Commands

Chapter 2

2.4.62 HDTOUTTHRESHOLD
Controls GPHDT log output
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to control the output of the NMEA GPHDT heading log, see page 477. It sets a
heading standard deviation threshold. Only heading information with a standard deviation less than this
threshold can be output into a GPHDT message.
Message ID:

1062

Abbreviated ASCII Syntax:
HDTOUTTHRESHOLD thresh
Factory Default:
HDTOUTTHRESHOLD 2.0
ASCII Example:
HDTOUTTHRESHOLD 12.0

Field

Field Type

ASCII
Value

1

HDTOUTTHRESHOLD
header

2

thresh

Binary
Value

-

0.0 - 180.0

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or
binary, respectively

H

0

Heading standard deviation
threshold (degrees)

4

H

Float

168

Commands

Chapter 2

2.4.63 HEADINGOFFSET
Adds heading and pitch offset values
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to add an offset in the heading and pitch values of the HEADING log (see page 487),
HEADING2 log (see page 489) and GPHDT log (see page 477).
Message ID:

1082

Abbreviated ASCII Syntax:
HEADINGOFFSET headingoffsetindeg [pitchoffsetindeg]
Factory Default:
HEADINGOFFSET 0 0
ASCII Example:
HEADINGOFFSET 2 -1

Field

Field Type

ASCII Binary
Value Value

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

1

HEADINGOFFSET
header

2

headingoffsetindeg -180.0 - 180.0

Offset added to heading output (degrees).
Float
Default=0

4

H

3

pitchoffsetindeg

Offset added to pitch output (degrees).
Default=0

4

H+4

-

-90.0 - 90.0

OEM6 Firmware Reference Manual Rev 12

Float

169

Commands

Chapter 2

2.4.64 HPSEED
Specifies the initial OmniSTAR HP/XP position
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This OmniSTAR HP/XP command is used to specify the initial position for OmniSTAR HP/XP. It allows you to
specify the datum and undulation for the position entered. Position is then transformed into the datum
currently set in the receiver. You can use STORE or RESTORE as a variable.
The HPSEED command does not get saved when you use the SAVECONFIG command. Rather,
if STORE is issued with the HPSEED command, it stores it in NVM. The RESTORE variable
resends the stored HPSEED command.
Message ID:

782

Abbreviated ASCII Syntax:
HPSEED mode [lat lon hgt lats lons hgts [datum undulation]]
Factory Default:
HPSEED reset
ASCII Examples:
To store the current HP/XP position so that it can be used as the seed in the future:
HPSEED STORE
To use the stored HP/XP position as the seed:
HPSEED RESTORE
To use a known position in the native datum of OmniSTAR HP/XP as the seed:
HPSEED SET 51.11633810554 -114.03839550586 1048.2343 0.0086,0.0090,0.0191
To use a known position from a datum other than the native OmniSTAR HP/XP datum as the seed:
HPSEED SET 51.11633810554 -114.03839550586 1048.2343 0.0086,0.0090,0.0191
CANADA EGM96

OEM6 Firmware Reference Manual Rev 12

170

Commands

Chapter 2

1. HP/XP seeding is restarting the HP/XP filter from known coordinates with a known accuracy
as a starting point such that it is already converged. This is implemented by using the
HPSEED command. There are two ways of using our implementation of HP/XP seeding:
a. Seed HP/XP from a stored HP/XP position:
•

When HP/XP is converged and the vehicle is stopped, enter HPSEED STORE to
save the current HP/XP position to NVM.

•

When the vehicle is restarted, enter HPSEED RESTORE to feed the previously
known position into the HP/XP process so it can start from the previous accuracy.

b. Seed HP/XP from an externally generated known position and accuracy:
•

Consider the case of survey customers who enter the known antenna location with
HPSEED SET    
 

•

If the source of the position is in a different datum than the native datum of HP/XP,
or if a different undulation has been used, the transformation can be specified after
 with  .

Initial position estimate for HP/XP and fallback when HP/XP is lost:
When HP/XP starts up, it requests the current position to get itself started. In the startup time
line implemented, this is the first valid position available when the task running HP/XP receives
its first L-Band data. This may or may not be a Virtual Base Station (VBS) position when VBS is
also enabled. It depends on how things start up, for instance, whatever pseudorange filter
position is available is used. If you want to hold off on HP/XP using the position estimate until
you've confirmed that the VBS corrections have started and plenty of satellites are in the
solution, start up with PSRDIFFSOURCE OMNISTAR and RTKSOURCE NONE, wait for the
condition of the VBS position to be satisfactory and then set RTKSOURCE OMNISTAR as well.
The HP/XP startup will be waiting until you set the RTKSOURCE. This may give some minor
improvement to the convergence time of HP/XP.
This is somewhat related to the position falling back to VBS when HP/XP is lost. If both
PSRDIFFSOURCE OMNISTAR and RTKSOURCE OMNISTAR are set, the BESTPOS log contains
the best available of the two. There is normally an offset between the HP/XP solution and VBS.

ASCII
Value

Field Field Type

Binary
Value

Description

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

1

HPSEED
header

-

2

mode

See Table 41, Seeding
Seeding mode
Mode on page 172

3

lat

90

4

lon

5

hgt

6

lat

-

Format

Binary Binary
Bytes Offset

H

0

Enum

4

H

Latitude (degrees)

Double

8

H+4

360

Longitude (degrees)

Double

8

H+12

-1000 to 20000000

Height above mean sea level (m)

Double

8

H+20

Latitude standard deviation (m)

Float

4

H+28

OEM6 Firmware Reference Manual Rev 12

171

Commands

Chapter 2

Field Field Type

ASCII
Value

Binary
Value

Description

Format

Binary Binary
Bytes Offset

7

lon

Longitude standard deviation (m)

Float

4

H+32

8

hgt

Height standard deviation (m)

Float

4

H+36

9

10

datum

See Table 26, Datum
Transformation
Parameters on
page 116

Enum

4

H+40

undulation

Undulation type
See the UNDULATION
(default = TABLE)
Enum
command’s option field
Refer to Table 26, Datum Transformation
values on page 323
Parameters on page 116

4

H+44

Datum ID
(default = WGS84)

Table 41: Seeding Mode
Binary Value ASCII Mode Name

Description

0

RESET

Clear current seed and restart HP/XP a

1

SET

Specify a position and inject it into HP/XP as seed

2

STORE

Store current HP/XP position in NVM for use as a future seed a

3

RESTORE

Inject NVM-stored position into HP/XP as seed a

a. No further parameters are needed in the syntax.

OEM6 Firmware Reference Manual Rev 12

172

Commands

Chapter 2

2.4.65 HPSTATICINIT
Sets OmniSTAR HP/XP static initialization
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to enable or disable static initialization of OmniSTAR HP/XP. If the OmniSTAR HP/XP
process knows that the receiver is stationary, it can converge more quickly.
If the HP/XP filter perceives receiver motion, it may abort static initialization. See the Static
Initialization Mode bit in the HP/XP Status field of the LBANDSTAT log (see page 506), to
confirm that static initialization is in progress.
Message ID:

780

Abbreviated ASCII Syntax:
HPSTATICINIT switch
Factory Default:
HPSTATICINIT disable
ASCII Example:
HPSTATICINIT ENABLE

Field

ASCII
Value

Field Type

1

HPSTATICINIT
header

2

switch

Binary
Value

-

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

DISABLE 0

The receiver is not stationary

ENABLE

The receiver is stationary

1

OEM6 Firmware Reference Manual Rev 12

Format

Enum

Binary Binary
Bytes Offset

H

0

4

H

173

Commands

Chapter 2

2.4.66 ICOMCONFIG
Configures IP virtual COM port
OEM Platform:

628, 638, FlexPak6, ProPak6

This command is used for Ethernet set up and to configure the transport/application layer of the
configuration.
Access to the ICOM ports can be restricted by turning on ICOM security using the IPSERVICE
command (see page 184).
Message ID:

1248

Abbreviated ASCII Syntax:
ICOMCONFIG [port] protocol [endpoint[bindinterface]]
Factory Default:
ICOMCONFIG ICOM1 TCP :3001
ICOMCONFIG ICOM2 TCP :3002
ICOMCONFIG ICOM3 TCP :3003
ASCII Example:
ICOMCONFIG ICOM1 TCP :2000 All
Due to security concerns, the configuration ICOMCONFIG UDP :3000 and TCP should only be
used by customers on a closed system, that is, board-to-board. NovAtel is not liable for any
security breaches that may occur if not used on a closed system.

Field

1

ASCII
Value

Field Type

ICOMCONFIG
Header

Binary
Value

-

Data Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Name of the port (default =
THISPORT).

Enum

4

H

Enum

4

H+4

THISPORT 6
2

3

port

protocol

ICOM1

23

ICOM2

24

ICOM3

25

DISABLED 1

Will disable the service

TCP

2

Use Raw TCP

UDP

3

Use Raw UDP

OEM6 Firmware Reference Manual Rev 12

174

Commands

Field

Field Type

Chapter 2
ASCII
Value

Binary
Value

Host:Port
4

5

endpoint

bindInterface

Data Description

Format

Binary
Bytes

Binary
Offset

variablea H+8

mybase.com:3000

Endpoint to wait on, or to connect to
String
where host is a host name or IP
address and port is the TCP/UDP port [80]
number. If host is blank, act as a server

ALL
(default)

Not supported. Set to ALL for future
compatibility.

4

For example:
10.0.3.1:8000

1

Enum

H+88

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

175

Commands

Chapter 2

2.4.67 INTERFACEMODE
Sets receive or transmit modes for ports
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to specify what type of data a particular port on the receiver can transmit and receive.
The receive type tells the receiver what type of data to accept on the specified port. The transmit type tells the
receiver what kind of data it can generate. For example, to accept RTCA differential corrections, set the
receive type on the port to RTCA.
It is also possible to disable or enable the generation or transmission of command responses for a particular
port. Disabling of responses is important for applications where data is required in a specific form and the
introduction of extra bytes may cause problems, i.e., RTCA, RTCM, RTCMV3 or CMR. Disabling a port
prompt is also useful when the port is connected to a modem or other device that responds with data the
RECEIVER does not recognize.
For applications running in specific interface modes, see Table 42, Serial Port Interface Modes
on page 178, please set the appropriate interface modes before sending or receiving
corrections. It is important that the port interface mode matches the data being received on that
port. Mismatches between the interface mode and received data can result in CPU overloads.
When INTERFACEMODE port NONE NONE OFF is set, the specified port is disabled from interpreting any
input or output data. Therefore, no commands or differential corrections are decoded by the specified port.
When GENERIC is set for a port, it is also disabled but data can be passed through the disabled port and be
output from an alternative port using the pass-through logs PASSCOM, PASSXCOM, PASSAUX and
PASSUSB. See page 543 for details on these logs along with the Operation chapter in the OEM6 Family
Installation and Operation User Manual (OM-20000128) for information about pass-through logging. See also
the SERIALCONFIG command on page 271.
If you intend to use the SERIALCONFIG command, ensure you do so before the
INTERFACEMODE command on each port. The SERIALCONFIG command can remove the
INTERFACEMODE command setting if the baud rate is changed after the interface mode is set.
You should also turn break detection off using the SERIALCONFIG command (see page 271) to
stop the port from resetting because it is interpreting incoming bits as a break command. If such
a reset happens, the Interface mode will be set back to the default NOVATEL mode for both
input and output.

OmniSTAR External Stream
This feature allows you to use OmniSTAR VBS, HP or XP when you are not tracking an L-Band signal on the
OEM6. This is useful on an L-Band capable receiver where the OmniSTAR signals are unavailable. There is
an OmniSTAR option for the INTERFACEMODE command (OMNISTAR), see Table 42, Serial Port Interface
Modes on page 178.
For example, set the incoming INTERFACEMODE command to OMNISTAR on COM2:
INTERFACEMODE COM2 OMNISTAR NONE
where COM2 is expecting raw OmniSTAR L-Band data from an external source.
1. OMNISTAR is not a valid setting for an INTERFACEMODE output command.
2. Receiver data only comes from one port at a time.
3. When setting up a demodulator, use this command to output all raw L-Band.

OEM6 Firmware Reference Manual Rev 12

176

Commands

Chapter 2

Message ID: 3
Abbreviated ASCII Syntax:
INTERFACEMODE [port] rxtype txtype [responses]
Factory Default:
INTERFACEMODE COM1 NOVATEL NOVATEL ON
INTERFACEMODE COM2 NOVATEL NOVATEL ON
INTERFACEMODE COM3 NOVATEL NOVATEL ON
INTERFACEMODE AUX NOVATEL NOVATEL ON
INTERFACEMODE USB1 NOVATEL NOVATEL ON
INTERFACEMODE USB2 NOVATEL NOVATEL ON
INTERFACEMODE USB3 NOVATEL NOVATEL ON
INTERFACEMODE XCOM1 NOVATEL NOVATEL ON
INTERFACEMODE XCOM2 NOVATEL NOVATEL ON
INTERFACEMODE XCOM3 NOVATEL NOVATEL ON
INTERFACEMODE ICOM1 NOVATEL NOVATEL ON
INTERFACEMODE ICOM2 NOVATEL NOVATEL ON
INTERFACEMODE ICOM3 NOVATEL NOVATEL ON
INTERFACEMODE NCOM1 RTCMV3 NONE OFF
INTERFACEMODE NCOM2 RTCMV3 NONE OFF
INTERFACEMODE NCOM3 RTCMV3 NONE OFF
ASCII Example 1:
INTERFACEMODE COM1 RTCA NOVATEL ON
ASCII Example 2:
INTERFACEMODE COM2 MRTCA NONE

Are NovAtel receivers compatible with others on the market?
All GNSS receivers output two solutions: position and time. The manner in which they output
them makes each receiver unique. Most geodetic and survey grade receivers output the
position in electronic form (typically RS-232), which makes them compatible with most
computers and data loggers. All NovAtel receivers have this ability. However, each
manufacturer has a unique way of formatting the messages. A NovAtel receiver is not directly
compatible with a Trimble or Ashtech receiver (which are also incompatible with each other)
unless everyone uses a standard data format.
But there are several standard data formats available. For position and navigation output there
is the NMEA format. Real-time differential corrections use RTCM or RTCA format. For receiver
code and phase data RINEX format is often used. NovAtel and all other major manufacturers
support these formats and can work together using them. The NovAtel format measurement
logs can be converted to RINEX using the utilities provided in NovAtel Connect.

OEM6 Firmware Reference Manual Rev 12

177

Commands

Field

Chapter 2

ASCII
Value

Field Type

1

INTERFACEMODE
header

2

port

3

rxtype

4

txtype

5

Binary
Value

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

See Table 30,
Serial port identifier
Communications Port
Identifiers on page 135 (default = THISPORT)

responses

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

See Table 42, Serial
Port Interface Modes

Receive interface mode

Enum

4

H+4

Transmit interface mode

Enum

4

H+8

OFF

0

Turn response generation off

ON

1

Turn response generation on
(default)

Enum

4

H+12

Table 42: Serial Port Interface Modes
Binary Value ASCII Mode Name

Description

0

NONE

The port accepts/generates nothing. The port is disabled

1

NOVATEL

The port accepts/generates NovAtel commands and logs

2

RTCM

The port accepts/generates RTCM corrections

3

RTCA

The port accepts/generates RTCA corrections

4

CMR

The port accepts/generates CMR corrections

5

OMNISTAR

The port accepts OMNISTAR corrections, see also OmniSTAR External
Stream on page 176

6-7

Reserved

8

RTCMNOCR

9

Reserved

RTCM with no CR/LF appended a

OEM6 Firmware Reference Manual Rev 12

178

Commands

Chapter 2

Binary Value ASCII Mode Name
10

TCOM1

11

TCOM2

12

TCOM3

Description
INTERFACEMODE tunnel modes. To configure a full duplex tunnel,
configure the baud rate on each port. Once a tunnel is established, the
baud rate does not change. Special characters, such as a BREAK
condition, do not route across the tunnel transparently and the serial
port is altered, see the SERIALCONFIG command on page 271. Only
serial ports may be in a tunnel configuration: COM1, COM2, COM3 or
AUX may be used.
For example, configure a tunnel at 115200 bps between COM1 and
AUX:
SERIALCONFIG AUX 115200

13

TAUX

b

SERIALCONFIG COM1 115200
INTERFACEMODE AUX TCOM1 NONE OFF
INTERFACEMODE COM1 TAUX NONE OFF
The tunnel is fully configured to receive/transmit at a baud rate of
115200 bps

14

RTCMV3

15

The port only accepts/generates binary messages. If an ASCII
command is entered when the mode is set to binary only, the command
NOVATELBINARY
is ignored. Only properly formatted binary messages are responded to
and the response is a binary message

16-17

Reserved

18

GENERIC

19

Reserved

20

MRTCA

21-26

The port accepts/generates RTCM Version 3.0 corrections

The port accepts/generates nothing. SEND/SENDHEX commands from
another port generate data on this port. Any incoming data on this port
can be seen with PASSCOM logs on another port, see page 543

The port accepts/generates Modified Radio Technical Commission for
Aeronautics (MRTCA) corrections

Reserved

27

AUTOc

For auto-detecting different RTK correction formats

35

NOVATELX

The port accepts/generates NOVATELX corrections

a. An output interfacemode of RTCMNOCR is identical to RTCM but with the CR/LF appended. An input interfacemode
of RTCMNOCR is identical to RTCM and functions with or without the CR/LF.
b. Only available on specific models.
c. For auto-detecting different RTK correction formats and incoming baud rate (over serial ports). The change of baud
rate will not appear in the SERIALCONFIG log as this shows the saved baud rate for that port.

OEM6 Firmware Reference Manual Rev 12

179

Commands

Chapter 2

2.4.68 IOCONFIG
Sets the behavior of multiplexed I/O pins
OEM Platform:

638, ProPak6

The IOCONFIG command controls the settings of the multiplexed pins on the OEM638 headers. This
command provides independent control over each multiplexed pin.
Message ID:

1663

Abbreviated ASCII Syntax:
IOCONFIG PMUX_pin switch function
ASCII Example:
IOCONFIG pvout enable

Field Field Type

1

ASCII Value

IOCONFIG
header
PVOUT

2

pmux_pin

4

-

0

ERRORFLAG 1
NRSETOUT

2

USERIO2

3

Description

See Table 43, PMUX Pin Description on
page 181 for more information.

Enable

1

IN

0

OUT

1

EVENT

2

OEM6 Firmware Reference Manual Rev 12

H

0

Enum

4

H

Enum

4

H+4

Enum

4

H+8

USERIO2 is not available on the ProPak6

Enables MUX control on the pin entered in
PMUX_pin. See Table 43, PMUX Pin
Description on page 181 for more
information.

function

Binary Binary
Bytes Offset

Selects the multiplexed pin to change.

0

switch

Format

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Disables MUX control on the pin entered in
PMUX_pin. See Table 43, PMUX Pin
Description on page 181 for more
information.

Disable
3

Binary
Value

This field is used if PMUX_pin is set to
USERIO2. See Table 43, PMUX Pin
Description on page 181 for more
information.
This field is not used if PMUX_Pin is set to
PVOUT, ERRORFLAG or NRSETOUT.

180

Commands

Chapter 2
Table 43: PMUX Pin Description

ASCII

Binary

Switch
Value

Description
Position Valid Output.

PVOUT

0

Enable
(Default)

Disable

Pin 14 on the OEM638 expansion header presents the Position Valid
indicator. On the ProPak6, I/O port pin 5 presents the Position Valid
indicator.
OEM6 expansion header Pin 14 or ProPak6 I/O port pin 5 is the
EVENT_OUT3 output.
Error Flag Output.

ERRORFLAG

NRSETOUT

1

2

Enable
(Default)

Pin 38 on the OEM638 main header or ProPak6 I/O pin 8 is set high
when any error is detected as described in the RXSTATUS log on
page 643.

Disable

OEM638 main header Pin 38 or ProPak6 I/O pin 8 is the EVENT_IN4
input.

Enable
(Default)

An active low reset pulse is output on pin 26 of the OEM638 expansion
header or ProPak6 I/O pin 7 when the board resets.

Disable

Pin 26 on the OEM638 expansion header is the EVENT_IN2 input; or
ProPak6 I/O pin 7 is the EVENT_IN3 input.
If the Function field is set to 0 "IN", the USERIO2 pin (Main header pin
31) is the GPIO input and the expansion header pin 26 is either
EVENT_IN2 or NRESETOUT, depending on the last NRESETOUT
MUX selection.
Note: The last NRESETOUT MUX selection will be RESETOUT if the
last USERIO2 selection was EVENT.

Enable
(Default)
USERIO2

3

Note: USERIO2 is not accessible on the ProPak6
If the Function field is set to 1 "OUT", the USERIO2 pin is the GPIO
output and the expansion header pin 26 is either EVENT_IN2 or
NRESETOUT, depending on the last NRESETOUT MUX selection.
Note: The last NRESETOUT MUX selection will be RESETOUT if the
last USERIO2 selection was EVENT.
If the Function field is set to 2 "EVENT", the USERIO2 pin is the
EVENT_IN2 and the expansion header pin 26 is always NRESETOUT.

Disable

The USERIO2 pin is a GPIO in the last selected direction and expansion
header pin 26 is EVENT_IN2.
Note: The last selected direction will be IN if the last USERIO2 MUX
selection was EVENT.

OEM6 Firmware Reference Manual Rev 12

181

Commands

Chapter 2

2.4.69 IONOCONDITION
Sets ionospheric condition
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to change the level of ionosphere activity that is assumed by the RTK positioning
algorithms.
Only advanced users should use this command.

Message ID:

1215

Abbreviated ASCII Syntax:
IONOCONDITION mode
Factory Default:
IONOCONDITION AUTO
ASCII Example:
IONOCONDITION normal

Field

1

2

Field Type

ASCII Value

Description

-

This field contains the command
name or the message header
depending on whether the command
is abbreviated ASCII, ASCII or
binary, respectively

quiet

0

Receiver assumes a low level of
ionosphere activity

normal

1

Receiver assumes a medium level of
ionosphere activity

disturbed

2

Receiver assumes a high level of
ionosphere activity

AUTO

10

Receiver monitors the ionosphere
activity and adapts behavior
accordingly

IONOCONDITION
header

mode

Binary
Value

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

H

Enum

4

H

182

Commands

Chapter 2

2.4.70 IPCONFIG
Configures network IP settings
OEM Platform:

628, 638, FlexPak6, ProPak6

This command is used to configure static/dynamic TCP/IP properties for the Ethernet connection.
In addition to configuring an IP address and netmask for the interface, this command also
includes a gateway address. However, the receiver will only use the gateway address if the
Ethernet interface is configured as the preferred network interface (see the
SETPREFERREDNETIF command on page 287).
Message ID:

1243

Abbreviated ASCII Syntax:
IPCONFIG [interface_name] address_mode [IP_address [netmask [gateway]]]
Factory Default:
IPCONFIG ETHA DHCP
ASCII Examples:
IPCONFIG ETHA STATIC 192.168.74.10 255.255.255.0 192.168.74.1

ASCII
Value

Field Field Type

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

ETHA

2

Name of the Ethernet interface
(default = ETHA)

Enum

4

H

DHCP

1

Use Dynamic IP address

STATIC

2

Use Static IP address

Enum

4

H+4

ddd.ddd.ddd.ddd
IP Address-decimal dot notation
(For example: 10.0.0.2)

String
[16]

variablea H+8

netmask

ddd.ddd.ddd.ddd
(For example:
255.255.255.0)

Netmask-decimal dot notation

String
[16]

variablea H+24

gateway

ddd.ddd.ddd.ddd
Gateway-decimal dot notation
(For example: 10.0.0.1)

String
[16]

variablea H+40

1

IPCONFIG
Header

-

2

interface
name

3

address
mode

4

IP address

5

6

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

183

Commands

Chapter 2

2.4.71 IPSERVICE
Configure availability of networks ports/services
OEM Platform:

628, 638, ProPak6

Use the IPSERVICE command to configure the availability of specific network ports/services. When disabled,
the service does not accept incoming connections.
By default, the FTP Server is disabled.

Message ID:

1575

Abbreviated ASCII Syntax:
IPSERVICE IPService switch
Factory Default:
IPSERVICE SECURE_ICOM DISABLED
ASCII Example:
IPSERVICE FTP_SERVER ENABLE
Field

1

2

Field Type

IPSERVICE
header

ASCII Value

Binary
Value

Description

Format

-

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

NO_PORT

0

No port

FTP_SERVER

1

WEB_SERVER

2

SECURE_ICOM 3

H

0

Enum

4

H

Enum

4

H+4

FTP server port. (Default = disabled)
Not applicable to the OEM628 platform
Web server port (Default=disabled)
Not applicable to the OEM628 platform
Enables or disables security on ICOM
ports.

ipservice

Binary Binary
Bytes Offset

When security is enabled, a login is
required as part of the connection
process (see the LOGIN command on
page 199). Default=disabled
Note: Security in this sense means
users must supply a name and
password before being allowed to
enter commands on the ICOM ports. It
does not mean there is data encryption

3

switch

DISABLE

0

Disable the IP service specified.

ENABLE

1

Enable the IP service specified.

OEM6 Firmware Reference Manual Rev 12

184

Commands

Chapter 2

2.4.72 LEDCONFIG
LED Controller Configuration Interface
OEM Platform:

ProPak6

Use the LEDCONFIG command to configure some of the ProPak6 front panel LED indicators.
Five of the LEDs on the Propak6 front panel have configurable threshold settings that determine when the
LED changes color states. The five configurable LEDs are SATTRACK1, SATTRACK2, GNSS1, GNSS2 and
DATALOG.
The configuration settings for the SATRACK1, SATTRACK2 and DATALOG LEDs take two parameters: one
value determines when the LED turns red and the other value determines when it turns amber (with the
default setting outside the value range being green).
Some ProPak6 models contain two GNSS receiver cards to calculate alignment and heading. GNSS1 refers
to the primary receiver card in the ProPak6 and GNSS2 refers to the optional secondary receiver card in the
ProPak6. The GNSS1 and GNSS2 LEDs only take one parameter. There are several subcategories for each
that can be set to specific LED states (color and blink or solid display). There are 5 Position Types which
categorize the full range of receiver position types. When the first parameter passed to the LEDCONFIG
command is either GNSS1 or GNSS2, you are setting all five position types to the same LED pattern. If you
want to specify an LED pattern for any of the five GNSS sub categories, which correspond to the five position
types, use the GNSSx_ parameter (for example GNSS1_SINGLE). See the examples on the following page.
Message ID:

1498

Abbreviated ASCII Syntax:
LEDCONFIG LEDID [Param 1] [param 2]
ASCII Example:
LEDCONFIG DATALOG 20 40

Field

ASCII
Value

Field Type

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

1

LEDCONFIG
header

-

2

LEDID

See Table 44, LED
ID on page 187

LED identification

Enum

4

H

3

Param 1

See Table 44, LED
ID on page 187

Parameter value.
Exact meaning depends on LED ID.

Long

4

H+4

4

Param 2

See Table 44, LED
ID on page 187

Parameter value.
Exact meaning depends on LED ID.

Long

4

H+8

-

Command Header

0

The LOG LEDCONFIG command displays the current configuration of all LEDs.

OEM6 Firmware Reference Manual Rev 12

185

Commands

Chapter 2

Examples:
LEDCONFIG DATALOG 20 40
This command configures the LED as follows:
•

red:

available memory <20%

•

amber:

available memory ≥20% and ≤40%

•

green:

available memory >40%

LEDCONFIG SATTRACK1 3 5
This command configures the LED as follow:
•

red:

3 or fewer satellites

•

amber:

4 or 5 satellites

•

green:

6 or more satellites

To restore the GNSS1 LED to its default configuration for all position states:
LEDCONFIG GNSS1 0
To configure the GNSS2 LED so No Fix is OFF, Single Point is AMBER, and everything else is GREEN, enter
the following commands:
LEDCONFIG GNSS2 3
LEDCONFIG GNSS2_NOFIX 1
LEDCONFIG GNSS2_SINGLE 5
An alternate way to configure the GNSS2 LED so No Fix is OFF, Single Point is AMBER, and everything else
is GREEN, enter the following commands:
LEDCONFIG GNSS2_NOFIX 1
LEDCONFIG GNSS2_SINGLE 5
LEDCONFIG GNSS2_CONVERGING 3
LEDCONFIG GNSS2_CONVERGED 3
LEDCONFIG GNSS2_PSRPDP 3
To set just the GNSS2 Converging Accuracy to its default pattern:
LEDCONFIG GNSS2_CONVERGING 0

OEM6 Firmware Reference Manual Rev 12

186

Commands

Chapter 2
Table 44: LED ID

Binary

1

ASCII

SATTRACK1

Description

Set thresholds for SV
Tracking LED for card 1

Param 1

Param 2

Red LED SV threshold

Amber LED SV threshold

When the number of satellites
tracked by card 1 is less than or
equal to this value, the LED is
red.

When the number of
satellites tracked by card 1
is less than or equal to this
value, the LED is amber.

Red LED SV threshold

Amber LED SV threshold
When the number of
satellites tracked by card 2
is less than or equal to this
value, the LED is amber.

2

SATTRACK2

Set thresholds for SV
Tracking LED for card 2

When the number of satellites
tracked by card 2 is less than or
equal to this value, the LED is
red.

3

GNSS1

Assign LED pattern for all
Position Status states for
card 1

LED pattern
(see Table 45, GNSS1/GNSS2 N/A
LED Patterns on page 188)

4

GNSS2

Assign LED pattern for all
Position Status states for
card 2

LED pattern
(see Table 45, GNSS1/GNSS2 N/A
LED Patterns on page 188)

9

DATALOG

Red LED free space %
threshold.
Set thresholds for Logging
When the percentage of free
Capacity LED
memory space is below this
value the LED is red.

19

GNSS1_
NOFIX

Assign the LED pattern for LED pattern
the No Fix position state
(see Table 45, GNSS1/GNSS2 N/A
for card 1
LED Patterns on page 188)

20

GNSS1_
SINGLE

Assign the LED pattern for LED pattern
the Single Point position
(see Table 45, GNSS1/GNSS2 N/A
state for card 1
LED Patterns on page 188)

21

Assign the LED pattern for LED pattern
GNSS1_
the Converging Accuracy (see Table 45, GNSS1/GNSS2 N/A
CONVERGING
position state for card 1
LED Patterns on page 188)

22

GNSS1_
CONVERGED

Assign the LED pattern for LED pattern
the Converged Accuracy (see Table 45, GNSS1/GNSS2 N/A
position state for card 1
LED Patterns on page 188)

23

GNSS1_
PSRPDP

Assign the LED pattern for
LED pattern
the PSR/PDP Using
(see Table 45, GNSS1/GNSS2 N/A
Corrections position state
LED Patterns on page 188)
for card 1

24

GNSS2_
NOFIX

Assign the LED pattern for LED pattern
the No Fix position state
(see Table 45, GNSS1/GNSS2 N/A
for card 2
LED Patterns on page 188)

OEM6 Firmware Reference Manual Rev 12

Amber LED free space %
threshold
When the percentage of
free memory space is less
than or equal to this value
the LED is amber.

187

Commands
Binary

Chapter 2
ASCII

Description

Param 1

Param 2

Assign the LED pattern for LED pattern
the Single Point position
(see Table 45, GNSS1/GNSS2 N/A
LED Patterns on page 188)
state for card 2

25

GNSS2_
SINGLE

26

Assign the LED pattern for LED pattern
GNSS2_
the Converging Accuracy (see Table 45, GNSS1/GNSS2 N/A
CONVERGING
position state for card 2
LED Patterns on page 188)

27

GNSS2_
CONVERGED

Assign the LED pattern for LED pattern
the Converged Accuracy (see Table 45, GNSS1/GNSS2 N/A
position state for card 2
LED Patterns on page 188)

28

GNSS2_
PSRPDP

Assign the LED pattern for
LED pattern
the PSR/PDP Using
(see Table 45, GNSS1/GNSS2 N/A
Corrections position state
LED Patterns on page 188)
for card 2
Table 45: GNSS1/GNSS2 LED Patterns
Position Status

Value

Default value

0

Off

1

Flashing Green

2

Solid Green

3

Flashing Amber

4

Solid Amber

5

Table 46: SATTRACK1/SATRACK2 LED default values
SATTRACK Threshold

LED State

Tracking 0 SVs

Off

Tracking 1 to 3 SVs

Red

Tracking 4 to 5 SVs

Amber

Tracking 6 SVs or more

Green

Table 47: DATALOG LED default values
DATALOG Threshold
Available internal memory capacity is greater than 40%

LED State
Green

Available internal memory capacity is between 20% and 40% Amber
Available internal memory capacity is less than 20%

Red

System Busy (format, chkdsk, etc)

Alternating Green and Amber

OEM6 Firmware Reference Manual Rev 12

188

Commands

Chapter 2
Table 48: GNSS1/GNSS2 LED default values
GNSS State

LED State

No Fix

Off

Single Point

Flashing Amber

Converging Accuracy

Amber

Converged Accuracy

Green

PSR/PDP Using Corrections

Flashing Green

OEM6 Firmware Reference Manual Rev 12

189

Commands

Chapter 2

2.4.73 LOCKOUT
Prevents the receiver from using a satellite
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to prevent the receiver from using a satellite in the solution computations.
1. The LOCKOUT command does not prevent the receiver from tracking an undesirable
satellite.
2. LOCKOUT and UNLOCKOUT commands can be used with GPS, GLONASS, SBAS and
QZSS PRNs.
This command must be repeated for each satellite to be locked out. See also the UNLOCKOUT command on
page 325 and UNLOCKOUTALL command on page 326.
Message ID:

137

Abbreviated ASCII Syntax:
LOCKOUT prn
Input Example:
LOCKOUT 8
The LOCKOUT command removes one or more satellites from the solution while leaving other
satellites available.

ASCII
Value

Field Field Type

1

LOCKOUT
header

Binary
Value

-

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Unique identifier for the satellite being
Ulong
locked out

4

H

GPS: 1-32
SBAS: 120-138, 183-187
2

prn

GLONASS: see
Section 1.3, GLONASS
Slot and Frequency
Numbers on page 31.
QZSS: 193-197

OEM6 Firmware Reference Manual Rev 12

190

Commands

Chapter 2

2.4.74 LOCKOUTSYSTEM
Prevents the receiver from using a system
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to prevent the receiver from using satellites in a system in the solution computations.
The LOCKOUTSYSTEM command does not prevent the receiver from tracking an undesirable
satellite.
This command must be repeated for each system to be locked out. See also the UNLOCKOUTSYSTEM
command on page 327 and UNLOCKOUTALL command on page 326.
Message ID:

871

Abbreviated ASCII Syntax:
LOCKOUTSYSTEM system
Factory Defaults:
LOCKOUTSYSTEM galileo
LOCKOUTSYSTEM sbas
LOCKOUTSYSTEM qzss
The LOCKOUTSYSTEM command removes one or more systems from the solution while leaving
other systems available.

ASCII
Value

Field Field Type

Binary
Value

1

LOCKOUT
SYSTEM
header

-

2

system

See Table 109,
Satellite System
on page 494

-

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

H

0

A single satellite system to be locked out

Enum

4

H

Refer to Table 109, Satellite System on page 494 for a list satellite systems.

OEM6 Firmware Reference Manual Rev 12

191

Commands

Chapter 2

2.4.75 LOG
Requests logs from the receiver
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Many different types of data can be logged using different methods of triggering the log events. Every log
element can be directed to any combination of the receiver’s ports. The ONTIME trigger option requires the
addition of the period parameter. See Chapter 3, Data Logs on page 346 for further information and a
complete list of data log structures. The LOG command tables in this section show the binary format followed
by the ASCII command format.
The optional parameter [hold] prevents a log from being removed when the UNLOGALL command, with its
defaults, is issued. To remove a log which was invoked using the [hold] parameter requires the specific use of
the UNLOG command (see page 328). To remove all logs that have the [hold] parameter, use the UNLOGALL
command with the held field set to 1, see page 330.
The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the command was
received on.
1. The OEM6 family of receivers can handle 64 simultaneous log requests. If an attempt is
made to log more than 64 logs at a time, the receiver responds with an Insufficient
Resources error. Note that RXSTATUSEVENTA logs are requested on most ports by
default and these logs count against the 64.
2. The user is cautioned that each log requested requires additional CPU time and memory
buffer space. Too many logs may result in lost data and low CPU idle time. Receiver
overload can be monitored using the idle time field and buffer overload bits of the Receiver
Status in any log header.
3. Only the MARKPOS, MARK2POS, MARKTIME or MARK2TIME logs and ‘polled’ log types
are generated, on the fly, at the exact time of the mark. Synchronous and asynchronous
logs output the most recently available data.
4. Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or MARK2POS
logs.
5. Polled log types allow fractional offsets and ONTIME rates up to the maximum logging rate
as defined by the receiver model.
6. If ONTIME trigger is used with asynchronous logs, the time stamp in the log does not
necessarily represent the time the data was generated but rather the time when the log is
transmitted.
Message ID:

1

Abbreviated ASCII Syntax:
LOG [port] message [trigger [period [offset [hold]]]]

OEM6 Firmware Reference Manual Rev 12

192

Commands

Chapter 2

Factory Default:
LOG
LOG
LOG
LOG
LOG
LOG
LOG
LOG
LOG
LOG

COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD
COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD
COM3 RXSTATUSEVENTA ONNEW 0 0 HOLD
AUX RXSTATUSEVENTA ONNEW 0 0 HOLD
USB1 RXSTATUSEVENTA ONNEW 0 0 HOLD
USB2 RXSTATUSEVENTA ONNEW 0 0 HOLD
USB3 RXSTATUSEVENTA ONNEW 0 0 HOLD
ICOM1 RXSTATUSEVENTA ONNEW 0 0 HOLD
ICOM2 RXSTATUSEVENTA ONNEW 0 0 HOLD
ICOM3 RXSTATUSEVENTA ONNEW 0 0 HOLD

Abbreviated ASCII Example 1:
LOG COM1 BESTPOS ONTIME 7 0.5 HOLD
The above example shows BESTPOS logging to com port 1 at 7 second intervals and offset by 0.5 seconds
(output at 0.5, 7.5, 14.5 seconds and so on). The [hold] parameter is set so that logging is not disrupted by
the UNLOGALL command (see page 330).
To send a log once, the trigger option can be omitted.
Abbreviated ASCII Example 2:
LOG COM1 BESTPOS ONCE 0.000000 0.000000 NOHOLD
See Section 2.1, Command Formats on page 36 for additional examples.
Using the NovAtel Connect utility there are two ways to initiate data logging from the receiver's
serial ports. Either enter the LOG command in the Console window or use the interface provided
in the Logging Control window. Ensure the Power Settings on the computer are not set to go
into Hibernate or Standby modes. Data is lost if one of these modes occurs during a logging
session.

OEM6 Firmware Reference Manual Rev 12

193

Commands

Chapter 2

Binary
Field

Field
Type

Binary Value

Description

Format

Binary Binary
Bytes Offset

1

LOG
(binary)
header

See Table 3, Binary Message This field contains the message
Header Structure on page 23 header

-

H

0

2

port

See Table 4, Detailed Port
Identifier on page 24

Enum

4

H

Message ID of log to output (refer to
Table 80, OEM6 Logs by Message ID
Ushort
on page 364) for a list of message ID
numbers

2

H+4

Message type of log

Char

1

H+6

Char

1

H+7

Enum

4

H+8

3

message Any valid message ID

Output port

Bits 0-4 = Reserved
Bits 5-6 = Format
00 = Binary
01 = ASCII
4

10 = Abbreviated ASCII,
message
NMEA
type
11 = Reserved
Bit 7 = Response Bit (page 29)
0 = Original Message
1 = Response Message

5

6

7

Reserved

trigger

period

0 = ONNEW

Does not output current message but
outputs when the message is updated
(not necessarily changed)

1 = ONCHANGED

Outputs the current message and
then continues to output when the
message is changed

2 = ONTIME

Output on a time interval

3 = ONNEXT

Output only the next message

4 = ONCE

Output the current message. If no
message is currently present, the next
message is output when available

5 = ONMARK

Output when a pulse is detected on
the mark 1 input, MK1I a b

Valid values for the high rate
logging are 0.05, 0.1, 0.2, 0.25 Log period (for ONTIME trigger) in
and 0.5. For logging slower
c
than 1 Hz any integer value is seconds
accepted

OEM6 Firmware Reference Manual Rev 12

Double 8

H+12

194

Commands

Chapter 2

Field
Type

Field

Binary Value

Description

Format

Binary Binary
Bytes Offset

A valid value is any integer (whole
number) smaller than the period.

8

offset

9

Offset for period (ONTIME
trigger) in seconds. To log data
at 1 second, after every
minute, set the period to 60
and the offset to 1

These decimal values, on their own,
are also valid: 0.1, 0.2, 0.25 or 0.5, as
well as any multiple of the maximum Double 8
logging rate defined by the receiver
model. The offset cannot be smaller
than the minimum measurement
period supported by the model.

0 = NOHOLD

Allow log to be removed by the
UNLOGALL command

1 = HOLD

Prevent log from being removed by
the default UNLOGALL command

hold

Enum

H+20

4

H+28

a. Refer to the Technical Specifications appendix in the OEM6 Family Installation and Operation User Manual (OM-20000128)
for more details on the MK1I pin. ONMARK only applies to MK1I. Events on MK2I (if available) do not trigger logs when
ONMARK is used. Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or MARK2POS logs.
b. Once the 1PPS signal has hit a rising edge, for both MARKPOS and MARKTIME logs, a resolution of both measurements
is 10 ns. As for the ONMARK trigger for other logs that measure latency, for example RANGE and POSITION logs such as
BESTPOS, it takes typically 20-30 ms (50 ms maximum) for the logs to output information from the 1PPS signal. Latency is
the time between the reception of the 1PPS pulse and the first byte of the associated log. See also the MARKPOS logs on
page 516 and MARKTIME logs on page 519.
c. See Appendix A in the OEM6 Family Installation and Operation User Manual (OM-20000128) for the maximum raw
measurement rate to calculate the minimum period. If the value entered is lower than the minimum measurement period,
the command will be rejected.

ASCII
Field

Field
Name

ASCII Value

Description

1

LOG
(ASCII)
header

-

2

port

Table 4, Detailed Port Identifier Output port
on page 24
(default = THISPORT)

3

Any valid message name, with
an optional A or B suffix (refer to
message
Message name of log to output
Table 80, OEM6 Logs by
Message ID on page 364)

OEM6 Firmware Reference Manual Rev 12

Format

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII or ASCII respectively
Enum

Char [ ]

195

Commands

Field

4

Chapter 2

Field
Name

trigger

ASCII Value

Description

ONNEW

Output when the message is updated (not
necessarily changed)

ONCHANGED

Output immediately and thereafter when the
message is changed

ONTIME

Output on a time interval

ONNEXT

Output only the next message

ONCE

Output only the current message (default). If no
message is currently is present, the next message is
output when available.

ONMARK

Output when a pulse is detected on the mark 1 input,
MK1I ab

Format

Enum

5

period

Any positive double value larger Log period (for ONTIME trigger) in seconds
than the receiver’s minimum
(default = 0)
raw measurement period
(see Footnote c on page 195)

6

offset

Any positive double value
smaller than the period

Offset for period (ONTIME trigger) in seconds. If you
want to log data, at 1 second after every minute, set Double
the period to 60 and the offset to 1 (default = 0)

NOHOLD

To be removed by the UNLOGALL command (default)

HOLD

Prevent log from being removed by the default
UNLOGALL command

7

hold

Double

Enum

a. Refer to the Technical Specifications appendix in the OEM6 Family Installation and Operation User Manual (OM-20000128)
for more details on the MK1I pin. ONMARK only applies to MK1I. Events on MK2I (if available) do not trigger logs when
ONMARK is used. Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or MARK2POS logs.
b. Once the 1PPS signal has hit a rising edge, for both MARKPOS and MARKTIME logs, a resolution of both measurements
is 10 ns. As for the ONMARK trigger for other logs that measure latency, for example RANGE and POSITION logs such as
BESTPOS, it takes typically 20-30 ms (50 ms maximum) for the logs to output information from the 1PPS signal. Latency is
the time between the reception of the 1PPS pulse and the first byte of the associated log. See also the MARKPOS logs on
page 516 and MARKTIME logs on page 519.

OEM6 Firmware Reference Manual Rev 12

196

Commands

Chapter 2

2.4.76 LOGFILE
Opens/closes log files in internal flash
OEM Platform:

638, ProPak6

Use the LOGFILE command to open and close a log file, recorded on internal flash storage. To record logs,
log requests are made to be redirected to the FILE port.
If no file name is supplied, one is automatically generated based on the following format:
_index.LOG
where
PSN is the PSN of the receiver and
index is an incrementing number starting at 1
The first unused number starting from 1 is selected on subsequent commands (for example, if there are 5
automatically named log files (names ending in 1-5) and log file 3 is deleted, the next automatic file name
ends in 3 since it is not in use).
Example: NOV12001200A_2.LOG
In this example “NOV12001200A” is the receiver PSN and “2” indicates that this is the second auto-named
file in the system.
•

A new COMPORT_ENUM called FILE represents the internal logging to flash memory. It has a
NOVATEL Interface Mode output only, no input is possible.

•

Once a log file is opened, any logs requested for the FILE port are recorded to the data log file on
internal flash memory.

•

Only logs published after the log file is open are recorded.

•

Only one log file can be open at a time.

•

Logs requested to the FILE port are produced even if the log file is closed (they do not go anywhere
nor are recorded). If a new log file is opened, recording of the previously requested logs continues
with the new file.

•

The DOSCMD command is not permitted when a log file is open for writing.

•

The logging button on a Propak6 simply issues the LOGFILE OPEN/CLOSE command (toggling the
current state) and auto-generates a file name based on the description above.

•

The LOGFILESTATUS log (see page 512) reports the current state of the logging system.

Message ID: 157
Abbreviated ASCII Syntax:
LOGFILE PDC_FileActionEnum [Filename]
ASCII Example:
LOGFILE OPEN

- creates an auto-named file for recording data

LOGFILE OPEN FLIGHTPATH.DAT

- creates a file named FLIGHTPATH.DAT for recording data

LOGFILE CLOSE

- closes the currently open log file

LOG FILE RAWIMUSB ONNEW

- records RAWIMUSB logs to internal flash if a file has been
opened for writing

OEM6 Firmware Reference Manual Rev 12

197

Commands

Field

Chapter 2

Field Type

1

LOGFILE header

2

PDC_FileActionEnum

3

Filename

ASCII
Value

Binary
Value

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

OPEN

0

CLOSE 1

OEM6 Firmware Reference Manual Rev 12

Open (create) new logging file
Close logging file
File name (optional)

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Char

128

H+4

198

Commands

Chapter 2

2.4.77 LOGIN
Start a secure ICOM connection to the receiver
OEM Platform:

628, 638, FlexPak6, ProPak6

When ICOM ports have security enabled (see the IPSERVICE command on page 184), a session to the
ICOM port can be established but commands are refused until a valid LOGIN command is issued. Both the
UserName and Password are required. The LOGIN command checks the supplied credentials against known
UserNames/Passwords and determines if the login is successful or not. A successful login permits the
secured ICOM command interpreter to accept further commands and returns OK. An unsuccessful login
does not release the secured ICOM command interpreter and returns Login Failed.
Entering a LOGIN command on any command port other than the ICOM port has no effect, regardless of
whether the UserName/Password is correct. In this case, the appropriate response (OK or Login Failed) is
returned, but there is no effect on the command interpreter.
When security is enabled, access to the port is restricted unless a valid name and password are
supplied. It does not mean there is data encryption enabled. Username is case-insensitive and
password is case-sensitive.
Message ID:

1671

Abbreviated ASCII Syntax:
LOGIN [commport] UserName Password
ASCII Example:
LOGIN ADMIN ADMINPASSWORD
Field

1

2

Field
Type

ASCII
Value

Binary
Value

Description

Format

-

-

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or
binary, respectively.

ICOM1

23

The ICOM port to log into.

commport ICOM2

24

ICOM3

25

LOGIN
header

This is an optional parameter.
If no value is entered, logs in to the ICOM port
currently being used. (default=THISPORT)

Enum

Binary
Bytes

Binary
Offset

H

0

4

H

3

username

Provide the user name for the login command. String
[32]
The user name is not case sensitive.

variablea H+4

4

password

Provide the password for the user name.The
password is case sensitive

variablea variable

String
[28]

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

199

Commands

Chapter 2

2.4.78 LOGOUT
End a secure ICOM session started using the LOGIN command
OEM Platform:

628, 638, FlexPak6, ProPak6

Use the LOGOUT command to sign out of an ICOM connection after a user has successfully logged in using
the LOGIN command. After the sending the LOGOUT command, the ICOM connection will not accept further
commands, other than a new LOGIN command. The session itself is not ended. This only applies to ICOM
ports that have had security enabled (see the IPSERVICE command on page 184).
Message ID:

1672

Abbreviated ASCII Syntax:
LOGOUT [commport]
ASCII Example:
LOGOUT

Field

Field Type

1

LOGOUT
header

2

commport

ASCII
Value

Binary
Value

-

-

ICOM1

23

ICOM2

24

ICOM3

25

Binary
Bytes

Binary
Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

The ICOM port from which to log out. This
is an optional parameter. If no value is
Enum
entered, logs out from the ICOM port
currently being used.

4

H

Description

OEM6 Firmware Reference Manual Rev 12

Format

200

Commands

Chapter 2

2.4.79 MAGVAR
Sets a magnetic variation correction
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The receiver computes directions referenced to True North (also known as geodetic north). The Magnetic
Variation Correction command (MAGVAR) is used to navigate in agreement with magnetic compass
bearings. The correction value entered here causes the "bearing" field of the navigate log to report bearing in
degrees Magnetic. The receiver computes the magnetic variation correction when using the auto option. See
Figure 5, Illustration of Magnetic Variation and Correction on page 201.
The receiver calculates values of magnetic variation for given values of latitude, longitude and time using the
International Geomagnetic Reference Field (IGRF) 2010 spherical harmonic coefficients and IGRF time
corrections to the harmonic coefficients. The model is intended for use up to the year 2015. The receiver will
compute for years beyond 2015 but accuracy may be reduced.
Message ID:

180

Abbreviated ASCII Syntax:
MAGVAR type [correction [std dev]]
Factory Default:
MAGVAR correction 0 0
ASCII Example 1:
MAGVAR AUTO
ASCII Example 2:
MAGVAR CORRECTION 15 0
Figure 5: Illustration of Magnetic Variation and Correction

Ref

Description

a

True Bearing

b

Local Magnetic Variation

c

Local Magnetic Variation Correction
(inverse of magnetic variation)

a + c Magnetic Bearing

OEM6 Firmware Reference Manual Rev 12

d

Heading: 50° True, 60° Magnetic

e

True North

f

Local Magnetic North

201

Commands

Chapter 2

How does GNSS determine what Magnetic North is? Do the satellites transmit a database or
some kind of look up chart to determine the declination for your given latitude and longitude?
How accurate is it?
Magnetic North refers to the location of the Earth's Magnetic North Pole. Its position is
constantly changing in various cycles over centuries, years and days. These rates of change
vary and are not well understood. However, we are able to monitor the changes.
True North refers to the earth's spin axis, that is, at 90° north latitude or the location where the
lines of longitude converge. The position of the spin axis does not vary with respect to the Earth.
The locations of these two poles do not coincide. Thus, a relationship is required between these
two values for users to relate GNSS bearings to their compass bearings. This value is called the
magnetic variation correction or declination.
GNSS does not determine where Magnetic North is nor do the satellites provide magnetic
correction or declination values. However, OEM6 receivers store this information internally in
look up tables so that when you specify that you want to navigate with respect to Magnetic
North, this internal information is used. These values are also available from various information
sources such as the United States Geological Survey (USGS). The USGS produces maps and
has software which enables the determination of these correction values. By identifying your
location (latitude and longitude), you can obtain the correction value. Refer to An Introduction to
GNSS, available on our website.

Field

Field
Type

ASCII Value

Binary
Value

Description

-

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

AUTO

0

Use IGRF corrections

1

MAGVAR
header

2

type

3

correction ± 180.0 degrees

4

std_dev

CORRECTION 1

± 180.0 degrees

OEM6 Firmware Reference Manual Rev 12

Use the correction supplied
Magnitude of correction
(Required field if type = Correction)
Standard deviation of correction
(default = 0)

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Float

4

H+4

Float

4

H+8

202

Commands

Chapter 2

2.4.80 MARKCONTROL
Controls processing of mark inputs
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to control the processing of the mark inputs. Using this command, the mark inputs can
be enabled or disabled, polarity can be changed and a time offset and guard against extraneous pulses can
be added.
The MARKPOS and MARKTIME logs have their outputs (and extrapolated time tags) pushed into the future
(relative to the mark input (MKI) event) by the amount entered into the time bias field. In almost all cases, this
value is set to 0, which is also the default setting (see page 516 and page 519).
Message ID:

614

Abbreviated ASCII Syntax:
MARKCONTROL signal [switch [polarity [timebias [timeguard]]]]
Factory Default:
MARKCONTROL MARK1 ENABLE
MARKCONTROL MARK2 ENABLE
ASCII Example:
MARKCONTROL MARK1 ENABLE NEGATIVE 50 100
Figure 6: TTL Pulse Polarity
3.3 V
NEGATIVE
Polarity

0.0 V
> 51 ns
3.3 V
POSITIVE
Polarity

0.0 V

If using an external device, such as a camera, connect the device to the receiver’s I/O port. Use
a cable that is compatible to both the receiver and the device. A MARKIN pulse can be a trigger
from the device to the receiver. See also the MARKPOS logs on page 516 and MARKTIME logs
on page 519.

OEM6 Firmware Reference Manual Rev 12

203

Commands

Field

1

2

Chapter 2

Field Type

MARKCONTROL
header

signal

Binary
Value

ASCII Value

-

MARK1

0

MARK2

1

MARK3
2
(OEM638 &
ProPak6 only)
MARK4
(OEM638 &
3
ProPak6 only)

3

4

5

switch

polarity

timebias

DISABLE

0

ENABLE

1

NEGATIVE

0

POSITIVE

1

Any valid long value

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

Specifies which mark input the
command should be applied to.
Set to MARK1 for the MK1I input,
MARK2 for MK2I, MARK3 for
Enum
MK3I and MARK4 for MK4I. All of
the mark inputs have 10 K pullup resistors to 3.3 V and are
leading edge triggered

4

H

Disables or enables processing
of the mark input signal for the
input specified. If DISABLE is
Enum
selected, the mark input signal is
ignored (default = ENABLE)

4

H+4

Optional field to specify the
polarity of the pulse to be
received on the mark input. See
Enum
Figure 6, TTL Pulse Polarity on
page 203 for more information
(default= NEGATIVE)

4

H+8

Optional value to specify an
offset, in nanoseconds, to be
Long
applied to the time the mark input
pulse occurs (default =0)

4

H+12

4

H+16

default: 4
minimum: 2
6

timeguard

Optional field to specify a time
period, in milliseconds, during
Any valid ulong value
which subsequent pulses after
larger than the
receiver’s minimum raw an initial pulse are ignored
measurement period a

Ulong

a. See Appendix A in the OEM6 Family Installation and Operation User Manual (OM-20000128) for the maximum raw
measurement rate to determine the minimum period. If the value entered is lower than the minimum measurement period,
the value is ignored and the minimum period is used.

OEM6 Firmware Reference Manual Rev 12

204

Commands

Chapter 2

2.4.81 MODEL
Switches to a previously authorized model
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to switch the receiver between models previously added with the AUTH command
(see page 77). When the MODEL command is issued, the receiver saves the specified model as the active
model. The active model is now used on every subsequent start up. The MODEL command causes an
automatic reset.
Use the VALIDMODELS log (see page 720) to output a list of available models on the receiver. Use the
VERSION log to output the active model, see page 723.
If the MODEL command is used to switch to an expired model, the receiver will reset and enter
into an error state. Switch to a valid model to continue.
Message ID:

22

Abbreviated ASCII Syntax:
MODEL model
Input Example:
MODEL D2LR0RCCR
NovAtel uses the term models to refer to and control different levels of functionality in the
receiver firmware. For example, a receiver may be purchased with an L1 only capability and be
easily upgraded at a later time to a more feature intensive model, like L1/L2 dual-frequency. All
that is required to upgrade is an authorization code for the higher model and the AUTH
command (see page 77). Reloading the firmware or returning the receiver for service to
upgrade the model is not required. Upgrades are available from NovAtel Customer Support.
.
Field

Field
Type

ASCII
Value

Binary
Value

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

1

MODEL
header

-

2

model

Max 16 character
null-terminated string Model name
(including the null)

-

Format

-

String
[max 16]

Binary
Bytes

Binary
Offset

H

0

Variablea

H

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

205

Commands

Chapter 2

2.4.82 MOVINGBASESTATION
Enables the use of a moving base station
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to enable or disable a receiver from transmitting corrections without a fixed position.
The moving base function allows you to obtain a centimeter level xyz baseline estimate when the base
station and possibly the rover are moving. It is very similar to normal RTK, with one stationary base station
and a moving rover (refer to Transmitting and Receiving Corrections section of the Operation chapter in the
OEM6 Family Installation and Operation User Manual (OM-20000128)). The BSLNXYZ log is an
asynchronous ‘matched’ log that can be logged with the onchanged trigger to provide an accurate baseline
between the base and rover.
Due to the latency of the reference station position messages, the following logs are not recommended to be
used when in moving baseline mode: BESTXYZ, GPGST, MARKPOS, MARK2POS, MATCHEDPOS,
MATCHEDEYZ, RTKPOS and RTKXYZ. The position error of these logs could exceed 100 m, depending on
the latency of the reference station position message. If a rover position is required during moving
basestation mode, then PSRPOS is recommended.
The MOVINGBASESTATION command must be used to allow the base to transmit messages without a fixed
position.
1. Use the PSRPOS position log at the rover. It provides the best accuracy and standard
deviations when the MOVINGBASESTATION mode is enabled.
2. This command supports RTCM V2.3 messages (except RTCM2021), RTCM V3 operation
and CMR GLONASS.
3. RTCA, RTCM1819 and RTCM V3 support includes GPS + GLONASS operation.
4. The MOVINGBASESTATION mode is functional if any of the following RTK message
formats are in use: RTCAOBS, RTCAOBS2, CMROBS, RTCAREF or CMRREF.
Message ID:

763

Abbreviated ASCII Syntax:
MOVINGBASESTATION switch
Factory Default:
MOVINGBASESTATION disable
ASCII Example:
MOVINGBASESTATION ENABLE

OEM6 Firmware Reference Manual Rev 12

206

Commands

Chapter 2

1. Consider the case where there is a fixed base, an airplane flying with a moving base station
near its front and a rover station at its tail end.
Corrections can be sent between the receivers in a ‘daisy chain’ effect, where the fixed
base station sends corrections to the moving base station, which in turn can send
corrections to the rover.
Figure 7: Moving Base Station ‘Daisy Chain’ Effect

3

2

1
DL-V3

When using this method, the position type is only checked at the fixed base
station. Moving base stations will continue to operate under any conditions.
2. This command is useful for moving base stations doing RTK positioning at sea. A rover
station is used to map out local areas (for marking shipping lanes, hydrographic surveying
and so on), while the base station resides on the control ship. The control ship may not
move much (parked at sea), but there is a certain amount of movement due to the fact that
it is floating in the ocean. By using the MOVINGBASESTATION command, the control ship is
able to use RTK positioning and move to new survey sites.
.
Field

1

ASCII
Value

Field Type
MOVINGBASESTATION header

DISABLE
2

Binary
Value

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

0

Do not transmit corrections without a
fixed position

1

Transmit corrections without a fixed
position

switch
ENABLE

Description

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

207

Commands

Chapter 2

2.4.83 NMEATALKER
Sets the NMEA talker ID
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to alter the behavior of the NMEA talker ID. The talker is the first 2 characters after the
$ sign in the log header of the GPGLL, GPGRS, GPGSA, GPGST, GPGSV, GPRMB, GPRMC, GPVTG and
GPZDA log outputs.
The default GPS NMEA messages (nmeatalker gp) include specific information about only the GPS satellites
that have a 'GP' talker solution, even when GLONASS satellites are present. The NMEATALKER AUTO
command changes this behavior so that the NMEA messages include all satellites in the solution and the
talker ID changes according to those satellites.
If NMEATALKER is set to auto and there are both GPS and GLONASS satellites in the solution, two
sentences with the GN talker ID are output. The first sentence contains information about the GPS and the
second sentence on the GLONASS satellites in the solution.
If NMEATALKER is set to auto and there are only GLONASS satellites in the solution, the talker ID of this
message is GL.
Message ID:

861

Abbreviated ASCII Syntax:
NMEATALKER id
Factory Default:
NMEATALKER gp
ASCII Example:
NMEATALKER auto

Field

ASCII
Value

Field Type

Binary
Value

Description

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

GP

0

GPS only

AUTO

1

GPS, GLONASS, combined

1

NMEATALKER
header

2

ID

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

The NMEATALKER command only affects NMEA logs that are capable of a GPS output. For
example, GLMLA is a GLONASS-only log and the output will always use the GL talker. Table 49,
NMEA Talkers on page 209 shows the NMEA logs and whether they use GPS (GP), GLONASS
(GL), Galileo (GA) or combined (GN) talkers with NMEATALKER AUTO.

OEM6 Firmware Reference Manual Rev 12

208

Commands

Chapter 2
Table 49: NMEA Talkers
Log

Talker IDs

GLMLA

GL

GPALM

GP

GPGGA

GP

GPGLL

GP or GL or GA or GN

GPGRS

GP or GL or GA or GN

GPGSA

GP or GL or GA or GN

GPGST

GP or GL or GA or GN

GPGSV

GP and GL and GA

GPRMB

GP or GL or GA or GN

GPRMC

GP or GL or GA or GN

GPVTG

GP or GL or GA or GN

GPZDA

GP

OEM6 Firmware Reference Manual Rev 12

209

Commands

Chapter 2

2.4.84 NMEAVERSION
Sets the NMEA Version for Output
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to set the output version of NMEA messages.
Message ID:

1574

Abbreviated ASCII Syntax:
NMEAVERSION Version
Factory Defaults:
NMEAVERSION V31
ASCII Example:
NMEAVERSION V41

Field

1

ASCII
Value

Field Type

NMEAVERSION
header

V31
2

Binary
Value

Format

-

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

0

NMEA messages will be output in NMEA
version 3.10 format.

1

NMEA messages will be output in NMEA
version 4.10 format.

Version
V41

Description

OEM6 Firmware Reference Manual Rev 12

Enum

Binary Binary
Bytes Offset

H

0

4

H

210

Commands

Chapter 2

2.4.85 NTRIPCONFIG
Configures NTRIP
OEM Platform:

628, 638, FlexPak6, ProPak6

This command sets up and configures NTRIP communication.
Message ID:

1249

Abbreviated ASCII Syntax:
NTRIPCONFIG port type [protocol [endpoint [mountpoint [username [password
[bindinterface]]]]]]
Mountpoint, username and password are all set up on the caster.

Factory Default:
NTRIPCONFIG ncom1 disabled
NTRIPCONFIG ncom2 disabled
NTRIPCONFIG ncom3 disabled
NTRIPCONFIG ncomX disabled
ASCII Example:
NTRIPCONFIG ncom1 client v1 :2000 calg0
ASCII example (NTRIP client):

NTRIPCONFIG ncom1 client v2 192.168.1.100:2101 RTCM3 calgaryuser calgarypwd
ASCII example (NTRIP server):
NTRIPCONFIG ncom1 server v1 192.168.1.100:2101 RTCM3 "" casterpwd

Field

1

2

Field Type

NTRIPCONFIG
Header

port

Binary
Value

ASCII Value

-

THISPORT

6

NCOM1

26

NCOM2

27

NCOM3

28

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

Name of the port see Table 30,
Communications Port Identifiers Enum
on page 135

4

H

211

Commands

Field

3

4

Field Type

type

protocol

Chapter 2

ASCII Value

Binary
Value

DISABLED

1

CLIENT

2

SERVER

3

V1

1

V2

2

Description

Format

Binary
Bytes

Binary
Offset

NTRIP type

Enum

4

H+4

Protocol (default V1)

Enum

4

H+8

5

endpoint

Endpoint to wait on or to connect
to where host is a hostname or
Max 80 character string
String [80] variablea H+12
IP address and port is the TCP/
UDP port number (default = 80)

6

mountpoint

Max 80 character string Which mount point to use

String [80] variablea variable

7

user name

Max 30 character string Login user name

String [30] variablea variable

8

password

Max 30 character string Password

String [30] variablea variable

9

bindInterface

ALL (default) 1

Not supported. Set to ALL for
future compatibility.

Enum

4

variable

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

212

Commands

Chapter 2

2.4.86 NTRIPSOURCETABLE
Set NTRIPCASTER ENDPONTS
OEM Platform:

628, 638, FlexPak6, ProPak6

This command is used to set the NTRIPCASTER ENDPOINTS to be used for the SOURCETABLE log.
Message ID:

1343

Abbreviated ASCII Syntax:
NTRIPSOURCETABLE endpoint [reserved1] [reserved2]
Factory Default:
NTRIPSOURCETABLE none
ASCII Example:
NTRIPSOURCETABLE hera.novatel.com:2101
NTRIPSOURCETABLE 198.161.64.11:2101

Field

1

ASCII
Value

Field Type
NTRIPSOURCE
TABLE

Binary
Value

Description

Binary
Bytes

Format

Binary
Offset

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

Endpoint, in format of host:port, to
String
connect to where the host is a
hostname or IP address and port is the [80]
TCP/IP port number

variablea H

header

0

2

Endpoint

Max 80
character string

3

Reserved1

Reserved

Reserved

Ulong

4

variable

4

Reserved2

Reserved

Reserved

Ulong

4

variable

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

213

Commands

Chapter 2

2.4.87 NVMRESTORE
Restores NVM data after an NVM failure
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to restore Non-Volatile Memory (NVM) data after a NVM Fail error. This failure is
indicated by bit 15 of the receiver error word being set (see also RXSTATUS on page 643 and
RXSTATUSEVENT on page 651). If corrupt NVM data is detected, the receiver remains in the error state and
continues to flash an error code on the Status LED until the NVMRESTORE command is issued (refer to the
chapter on Built-In Status Tests in the OEM6 Family Installation and Operation User Manual (OM-20000128)
for further explanation).
If you have more than one auth code and the saved model is lost, then the model may need to be entered
using the MODEL command or it is automatically saved in NVM on the next start up. If the almanac was lost, a
new almanac is automatically saved when the next complete almanac is received (after approximately 15
minutes of continuous tracking). If the user configuration was lost, it has to be reentered by the user. This
could include communication port settings.
The factory default for the COM ports is 9600, n, 8, 1.
After entering the NVMRESTORE command and resetting the receiver, the communications link may have to
be reestablished at a different baud rate from the previous connection.
Message ID:

197

Abbreviated ASCII Syntax:
NVMRESTORE
The possibility of NVM failure is extremely remote, however, if it should occur it is likely that only
a small part of the data is corrupt. This command is used to remove the corrupt data and restore
the receiver to an operational state. The data lost could be the user configuration, almanac,
model or other reserved information.

OEM6 Firmware Reference Manual Rev 12

214

Commands

Chapter 2

2.4.88 OMNIUSEGLONASS
Enables/disables GLONASS in OmniSTAR
OEM Platform:

628, 638, FlexPak6, ProPak6

This command is used to enable or disable the use of GLONASS in OmniSTAR.
Message ID:

1199

Abbreviated ASCII Syntax:
OMNIUSEGLONASS switch
Factory Default:
OMNIUSEGLONASS enable
ASCII Example:
OMNIUSEGLONASS disable

Field

ASCII
Value

Field Type

1

OMNIUSEGLONASS
header

2

switch

Binary
Value

-

DISABLE 0
ENABLE

1

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Enables/disables GLONASS in
OmniSTAR

Enum

4

H

Description

215

Commands

Chapter 2

2.4.89 PDPFILTER
Enables, disables or resets the PDP filter
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to enable, disable or reset the Pseudorange/Delta-Phase (PDP) filter. The main
advantages of the PDP implementation are:
•

Smooths a jumpy position

•

Bridges outages in satellite coverage (the solution is degraded from normal but there is at least a
reasonable solution without gaps)
1. Enable the PDP filter to output the PDP solution in BESTPOS, BESTVEL and NMEA logs.
2. Refer to the Operation chapter of the OEM6 Installation and Operation Manual
(OM-20000128) for a section on configuring your receiver for PDP or GLIDE™ operation.

GLIDE Position Filter
GLIDE is a mode of the PDP1 filter that optimizes the position for consistency over time rather than absolute
accuracy. This is ideal in clear sky conditions where the user needs a tight, smooth and consistent output.
The GLIDE filter works best with SBAS. The PDP filter is smoother than a least squares solution but is still
noisy in places. The GLIDE filter produces a very smooth solution with relative rather than absolute position
accuracy. There should typically be less than 1 centimeter difference in error from epoch to epoch. GLIDE
also works in single point, DGPS and OmniSTAR VBS modes. See also the PDPMODE command on
page 217 and the PDPPOS log on page 548, PDPVEL log on page 551 and PDPXYZ log on page 552.
Message ID:

424

Abbreviated ASCII Syntax:
PDPFILTER switch
Factory Default:
PDPFILTER disable
ASCII Example:
PDPFILTER enable
Field

1

ASCII
Value

Field Type

PDPFILTER
header

Binary
Value

-

DISABLE 0
2

switch

ENABLE 1
RESET

2

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or
binary, respectively

H

0

Enable/disable/reset the PDP filter. A reset
clears the filter memory so that the PDP filter Enum
can start over

4

H

1. Refer also to our application note APN038 on Pseudorange/Delta-Phase (PDP), available on our website a
www.novatel.com/support/search.

OEM6 Firmware Reference Manual Rev 12

216

Commands

Chapter 2

2.4.90 PDPMODE
Selects the PDP mode and dynamics
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to select the mode and dynamics of the PDP filter.
1. The PDPFILTER ENABLE command (page 216) must be entered before the PDPMODE
command.
2. It is recommended that the ionotype be left at AUTO when using either normal mode PDP
or GLIDE. See also the SETIONOTYPE command on page 284.
Message ID:

970

Abbreviated ASCII Syntax:
PDPMODE mode dynamics
Factory Default:
PDPMODE normal auto
ASCII Example:
PDPMODE relative dynamic

ASCII
Value

Field Field Type

1

PDPMODE
header
NORMAL

Binary
Value

-

0

RELATIVE 1
2

3

mode

dynamics

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or
binary, respectively

H

0

In relative mode, GLIDE performance is
optimized to obtain a consistent error in
latitude and longitude over time periods of 15
Enum
minutes or less, rather than to obtain the
smallest absolute position error. See also
GLIDE Position Filter on page 216 for GLIDE
mode additional information

4

H

4

H+4

GLIDE

3

AUTO

0

Auto detect dynamics mode

STATIC

1

Static mode

DYNAMIC

2

Dynamic mode

OEM6 Firmware Reference Manual Rev 12

Enum

217

Commands

Chapter 2

2.4.91 PDPVELOCITYOUT
Set the type of velocity used in the PDPVEL log
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command configures the type of velocity that is output in the PDPVEL log. By default, the
PDPVELOCITYOUT mode is set to PDP while the PDPVEL log (see page 551) and associated BESTVEL
log (see page 405) contain the velocity from the PDP filter. When the PDPVELOCITYOUT mode is set to
PSR, a Doppler-based velocity (similar to that output with the PSR position) with lower latency is output.
Message ID:

1324

Abbreviated ASCII Syntax:
PDPVELOCITYOUT mode
Factory Default:
PDPVELOCITYOUT pdp
ASCII Example:
PDPVELOCITYOUT psr

Field

1

2

ASCII
Value

Field Type

Description

Format

-

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or
binary, respectively

PDP

0

Use the velocity from the PDP filter.

PSR

1

Use a Doppler-based velocity with
lower latency.

PDPVELOCITYOUT
header

mode

Binary
Value

OEM6 Firmware Reference Manual Rev 12

Enum

Binary
Bytes

Binary
Offset

H

0

4

H

218

Commands

Chapter 2

2.4.92 POSAVE
Implements base station position averaging
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command implements position averaging for base stations. Position averaging continues for a specified
number of hours or until the estimated averaged position error is within specified accuracy limits. Averaging
stops when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is
achieved. When averaging is complete, the FIX POSITION command is automatically invoked.
If differential logging is initiated, then issue the POSAVE command followed by the SAVECONFIG command.
The receiver averages positions after every power on or reset. It then invokes the FIX POSITION command
to enable it to send differential corrections.
Message ID:

173

Abbreviated ASCII Syntax:
POSAVE state [maxtime [maxhstd [maxvstd]]]
Factory Default:
POSAVE off
ASCII Example 1:
POSAVE on 24 1 2
ASCII Example 2:
POSAVE OFF
Field

Field
Type

ASCII
Value

Binary
Value

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or binary,
respectively

H

0

Enable or disable position averaging

4

H

1

POSAVE
header

2

state

3

maxtime

0.01 - 100 hours

Maximum amount of time that positions are to be
Float
averaged (default=0.0)

4

H+4

4

maxhstd

0 - 100 m

Desired horizontal standard deviation
(default = 0.0)

Float

4

H+8

5

maxvstd

0 - 100 m

Desired vertical standard deviation
(default = 0.0)

Float

4

H+12

-

ON

1

OFF

0

Enum

The POSAVE command can be used to establish a new base station, in any form of survey or
RTK data collection, by occupying a site and averaging the position until either a certain amount
of time has passed or position accuracy has reached a user specified level. User specified
requirements can be based on time or horizontal or vertical quality of precision.

OEM6 Firmware Reference Manual Rev 12

219

Commands

Chapter 2

2.4.93 POSTIMEOUT
Sets the position time out
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This commands is used to set the time out value for the position calculation in seconds.
In position logs, for example BESTPOS or PSRPOS, when the position time out expires, the Position Type
field is set to NONE. Other field values in these logs remain populated with the last available position data.
Also, the position is no longer used in conjunction with the almanac to determine what satellites are visible.
Message ID:

612

Abbreviated ASCII Syntax:
POSTIMEOUT sec
Factory Default:
POSTIMEOUT 600
ASCII Example:
POSTIMEOUT 1200
When performing data collection in a highly dynamic environment (for example, urban canyons
or in high speed operations), you can use POSTIMEOUT to prevent the receiver from outputting
calculated positions that are too old. Use POSTIMEOUT to force the receiver position type to
NONE. This ensures that the position information being used in BESTPOS or PSRPOS logs is
based on a recent calculation. All position calculations are then recalculated using the most
recent satellite information.

Field

ASCII
Value

Field Type

1

POSTIMEOUT
header

-

2

sec

0-86400

Binary
Value

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Time out in seconds

4

H

Ulong

220

Commands

Chapter 2

2.4.94 PPPCONVERGEDCRITERIA
Configures decision for PPP convergence
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command controls how the PPP filter determines if the solution has converged.
Relaxing the convergence threshold shortens the time before a PPP solution is reported as
converged. However, it does not alter solution behavior. During the initial PPP solution period,
the positions can have decimeter error variation. Only relax the convergence threshold if the
application can tolerate higher solution variability.
Message ID:

1566

Abbreviated ASCII Syntax:
PPPCONVERGEDCRITERIA criteria tolerance
Factory Default:
PPPCONVERGEDCRITERIA horizontal_stddev 0.32
ASCII Example:
PPPCONVERGEDCRITERIA total_stddev 0.15

Field

1

2

3

Field Type

ASCII Value

PPP
CONVERGED
CRITERIA
header

Criteria

Binary
Value

-

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

TOTAL_STDDEV 1

Use the total, 3D, standard
deviation

HORIZONTAL_
STDDEV

Use the horizontal, 2D, standard
deviation

2

Tolerance

OEM6 Firmware Reference Manual Rev 12

Tolerance (m)

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Float

4

H+4

221

Commands

Chapter 2

2.4.95 PPPDYNAMICS
Sets the PPP dynamics mode
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command configures the dynamics assumed by the PPP filter. AUTO detects the antenna dynamics and
adapts filter operation accordingly.
The automatic dynamics detection, however, may be fooled by very slow, “creeping” motion,
where the antenna consistently moves less than 2 cm/s. In such cases, the mode should
explicitly be set to DYNAMIC.
Message ID:

1551

Abbreviated ASCII Syntax:
PPPDYNAMICS mode
Factory Default:
PPPDYNAMICS dynamic
ASCII Example:
PPPDYNAMICS auto

Field

1

2

ASCII
Value

Field Type

Description

Format

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

AUTO

0

Automatically determines dynamics
mode

STATIC

1

Static mode

DYNAMIC

2

Dynamic mode

PPPDYNAMICS
header

Mode

Binary
Value

OEM6 Firmware Reference Manual Rev 12

Enum

Binary Binary
Bytes Offset

H

0

4

H

222

Commands

Chapter 2

2.4.96 PPPSEED
Control the seeding of the PPP filter
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The PPPSEED command controls the seeding of the PPP filter. Accurate position seeding can accelerate
PPP convergence.
PPPSEED SET is used to explicitly specify a seed position. The seed position must be in a datum consistent
with the PPP corrections that will be used. For NovAtel CORRECT with PPP, this is ITRF2008.
Caution must be exercised when using PPPSEED SET. While a good seed position can
accelerate convergence, a bad seed position hurts performance. In some cases, a bad seed
can prevent a solution from ever converging to a correct position. In other cases, a bad seed
might be rejected immediately. In still other cases, the filter might operate with it for a time
period only to reject it later. In this case, the filter position is partially reset, with a corresponding
discontinuity in the PPP position.
PPPSEED STORE and RESTORE are intended to simplify seeding in operations where the antenna does not
move between power-down and power-up. For example, in agricultural operations a tractor might be stopped
in a field at the end of a day and then re-started the next day in the same position. Before the receiver is
powered-down, the current PPP position could be saved to NVM using the PPPSEED STORE command, and
then that position applied as a seed after power-up using PPPSEED RESTORE.
PPPSEED AUTO automates the STORE and RESTORE process. When this option is used, the PPP filter
automatically starts using the stopping position of the previous day. For this command to work, the
PPPDYNAMICS command (see page 222) setting must be AUTO so that the receiver can determine when it is
static, or the filter must explicitly be told it is static using PPPDYNAMIC STATIC. Additionally, in order for the
receiver to recall the saved seed, the PPPSEED AUTO command should be saved to NVM using the
SAVECONFIG command (see page 260).
Message ID:

1544

Abbreviated ASCII Syntax:
PPPSEED option [latitude] [longitude] [height] [northing_std._dev.]
[easting_std._dev.] [height_std._dev.]
ASCII Example:
PPPSEED set 51.11635322441 -114.03819311672 1064.5458 0.05 0.05 0.05

Field

1

ASCII
Value

Field Type

PPPSEED
header

-

Binary
Value

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Binary Binary
Bytes Offset

H

0

223

Commands

Field

2

Field Type

option

Chapter 2
ASCII
Value

Binary
Value

Description

Format

CLEAR

0

Resets the stored seed, and prevents
any auto seeding from occurring.

SET

1

Immediately apply the specified coordinates as a seed position.

STORE

2

Store the current PPP position in NVM
for use as a future seed.
Enum

RESTORE 3

Retrieve and apply a seed position that
was previously saved in NVM via the
STORE or AUTO options.

AUTO

Automatically store and restore PPP
seed positions.

4

Binary Binary
Bytes Offset

4

H

3

latitude

±90

Latitude (degrees)

Double

8

H+4

4

longitude

±180

Longitude (degrees)

Double

8

H+12

5

height

> -2000.0

Ellipsoidal height (metres)

Double

8

H+20

6

northing std. dev.

Northing standard deviation (metres)

Float

4

H+28

7

easting std. dev.

Easting standard deviation (metres)

Float

4

H+32

8

height std. dev.

Ellipsoidal height standard deviation
(metres)

Float

4

H+36

9

Reserved

Float

4

H+40

OEM6 Firmware Reference Manual Rev 12

224

Commands

Chapter 2

2.4.97 PPPSOURCE
Specifies the PPP correction source
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, FlexPak6D, ProPak6

This command determines what corrections the PPP filter will use. When transitioning between explicitly
specified sources, there can be some delay between this command being accepted and the source specified
in the PPP solution changing.
The AUTO source behavior is subject to change. TerraStar-L is not available for OEM638 and
ProPak6 receivers.
Message ID:

1707

Abbreviated ASCII Syntax:
PPPSOURCE source
Factory Default:
PPPSOURCE auto
ASCII Example:
PPPSOURCE none

Field

1

2

Field Type

ASCII Value

Binary
Value

Description

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

NONE

0

Reject all PPP corrections.
Disables the PPP filter

TERRASTAR

1

Only accept TerraStar PPP
corrections

VERIPOS

2

Only accept Veripos PPP
corrections

TERRASTAR_L

8

Only accept TerraStar-L PPP
corrections

TERRASTAR_C

10

Only accept TerraStar-C PPP
corrections

AUTO

100

Automatically select and use the
best corrections

PPPSOURCE
header

source

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

225

Commands

Chapter 2

2.4.98 PPPTIMEOUT
Sets the maximum age of the PPP corrections
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the maximum age of the corrections used in the PPP filter. Corrections older than the
specified duration are not applied to the receiver observations and uncorrected observations are not used in
the filter.
Message ID:

1560

Abbreviated ASCII Syntax:
PPPTIMEOUT delay
Factory Default:
PPPTIMEOUT 360
ASCII Example:
PPPTIMEOUT 120

Field

ASCII
Value

Field Type

Binary
Value

1

PPPTIMEOUT
header

-

2

delay

5 to 900 s

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Maximum corrections age

4

H

Ulong

226

Commands

Chapter 2

2.4.99 PPSCONTROL
Controls the PPS output
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command provides a method for controlling the polarity, period and pulse width of the PPS output on the
OEM6. The PPS output can also be disabled using this command.
This command is used to setup the PPS signal coming from the receiver. For example, to take
measurements such as temperature or pressure, in synch with your GNSS data, the PPS signal
can be used to trigger measurements in other devices.
The leading edge of the 1 PPS pulse is always the trigger/reference. For example:
PPSCONTROL ENABLE NEGATIVE
generates a normally high, active low pulse with the falling edge as the reference, while:
PPSCONTROL ENABLE POSITIVE
generates a normally low, active high pulse with the rising edge as the reference.
The pulse width is user-adjustable. The adjustable pulse width feature supports triggers/systems that need
longer, or shorter, pulse widths than the default to register the pulse enabling a type of GPIO line for
manipulation of external hardware control lines.
The switch states allow more control over disabling/enabling the PPS. The ENABLE_FINETIME switch
prevents the PPS from being enabled until FINE or FINESTEERING time status has been reached. The
ENABLE_FINETIME_MINUTEALIGN switch is similar to ENABLE_FINETIME with caveat that the PPS will
still not be enabled until the start of the next 60 seconds (a 1 minute modulus) after FINE or FINESTEERING
time status has been reached.
If the value of a field shared with PPSCONTROL2 is changed in PPSCONTROL, the value of
that field is also changed in PPSCONTROL2. For example, if the polarity is changed using the
PPSCONTROL command, the polarity is also changed in PPSCONTROL2 command.
Message ID:

613

Abbreviated ASCII Syntax:
PPSCONTROL [switch [polarity [period [pulsewidth]]]]
Factory Default:
PPSCONTROL enable negative 1.0 1000
ASCII Example:
PPSCONTROL enable positive 0.5 2000

OEM6 Firmware Reference Manual Rev 12

227

Commands

Field

1

2

Chapter 2

Field Type

ASCII Value

Description

Format

Binary Binary
Bytes Offset

-

H

0

4

H

4

H+4

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

DISABLE

0

Disable the PPS

ENABLE

1

Enable the PPS (default)

ENABLE_
FINETIME

2

Enable the PPS only when FINE or
FINESTEERING time status has
been reached
Enum

PPSCONTROL
header

switch

Binary
Value

ENABLE_
FINETIME_
3
MINUTEALIGN
NEGATIVE

0

POSITIVE

1

Enable the PPS only when FINE or
FINESTEERING time status has
been reached AND the start of the
next 60 seconds (1 minute modulus)
has occurred
Optional field to specify the polarity
of the pulse to be generated on the
Enum
PPS output. See Figure 6, TTL
Pulse Polarity on page 203 for more
information (default= NEGATIVE)

3

polarity

4

period

0.05, 0.1, 0.2, 0.25, 0.5, Optional field to specify the period of
Double 8
1.0, 2.0, 3.0,...20.0
the pulse, in seconds (default=1.0)

H+8

pulse width

Optional field to specify the pulse
Any positive value less width of the PPS signal in
Ulong
than or equal to half the microseconds. This value should
always be less than or equal to half
period
the period (default=1000)

H+16

5

OEM6 Firmware Reference Manual Rev 12

4

228

Commands

Chapter 2

2.4.100 PPSCONTROL2
Controls polarity, period, pulse width and estimated error limit of the PPS output
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The PPSCONTROL2 command provides a method for controlling the polarity, period, pulse width, and
estimated error limit of the PPS output on the OEM6. The PPS output can also be disabled using this
command.
This command is identical to the PPSCONTROL command (see page 227) with the addition of a new
parameter that represents the Estimated Error Limit.
If the value of a field shared with PPSCONTROL2 is changed in PPSCONTROL, the value of
that field is also changed in PPSCONTROL2. For example, if the polarity is changed using the
PPSCONTROL command, the polarity is also changed in PPSCONTROL2 command.
The estimated error limit sets an allowable ± range for the clock offset. The PPS output is only enabled when
the clock offset is within this range.
Message ID:

1740

Abbreviated ASCII Syntax:
PPSCONTROL2 [switch [polarity [period [pulsewidth [estimatederrorlimit]]]]]
Factory default:
PPSCONTROL2 enable negative 1.0 1000 0
ASCII Example:
PPSCONTROL2 enable_finetime positive 0.5 2000 10

Field

1

2

Field Type

ASCII Value

Description

Format

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

DISABLE

0

Disable the PPS

ENABLE

1

Enable the PPS (default)

ENABLE_
FINETIME

2

Enable the PPS only when FINE
or FINESTEERING time status
has been reached
Enum

PPSCONTROL2
header

switch

Binary
Value

ENABLE_
FINETIME_
MINUTEALIGN

OEM6 Firmware Reference Manual Rev 12

3

Binary Binary
Bytes Offset

H

0

4

H

Enable the PPS only when FINE
or FINESTEERING time status
has been reached AND the start
of the next 60 seconds (1 minute
modulus) has occurred

229

Commands

Field

Field Type

Chapter 2

ASCII Value

Binary
Value

NEGATIVE

0

POSITIVE

1

Description

Format

Optional field to specify the
polarity of the pulse to be
generated on the PPS output.
See Figure 6, TTL Pulse Polarity Enum
on page 203 for more
information (default =
NEGATIVE).

4

H+4

8

H+8

4

H+16

4

H+20

3

polarity

4

period

0.05, 0.1, 0.2, 0.25, 0.5,
1.0, 2.0, 3.0,...20.0

Optional field to specify the
period of the pulse in seconds
(default = 1.0).

pulse width

Any value less than or
equal to half the pulse
period in microseconds.

Optional field to specify the pulse
width of the PPS signal in
microseconds. This value should Ulong
always be equal to half the
period (default = 1000).

5

6

estimated error
limit

0 to 2147483647 in
nanoseconds

Binary Binary
Bytes Offset

Double

Optional field to specify the ±
estimated error limit (in
nanoseconds) for the clock offset
(default = 0). The PPS output is
only enabled when the clock
Long
offset is within this limit.
An estimated error limit of 0
removes the estimated error limit
restraint on the PPS.

OEM6 Firmware Reference Manual Rev 12

230

Commands

Chapter 2

2.4.101 PROFILE
Profile in Non-Volatile Memory (NVM)
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to configure multiple profiles in the NVM at receiver startup. The output is in the
PROFILEINFO log (see page 560). See also the FRESET command on page 157.
Message ID:

1411

Abbreviated ASCII Syntax:
PROFILE Option Name [command]
ASCII Examples:
PROFILE create Base
PROFILE createelement Base “log versiona”
PROFILE createelement Base “serialconfig com2 115200”
PROFILE createelement Base “log com2 rtca1 ontime 1”
PROFILE activate Base
ASCII
Value

Field Field Type

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

Profile options

Enum

4

H

variablea H+4

1

PROFILE
header

-

2

Option

Refer to Table 50,
Profile Option on
page 232

3

Name

Profile name

String [Max 20]

4

Command

Profile command

String [Max 200] variablea variable

-

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain
4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4byte alignment following the NULL.

Restrictions:
1. Only supports up to a maximum of 9 profiles.
2. Only supports up to a maximum of 20 commands per profile.
3. Only supports up to a maximum of 200 characters long for each command.
4. Only supports up to a maximum of 1500 characters for all commands in one profile.
5. If one of the profiles is activated, the SAVECONFIG functionality is disabled.
6. All profile data cleared from the NVM only by using the FRESET or NVMCLEAR commands.
7. The receiver resets after a profile is activated.

OEM6 Firmware Reference Manual Rev 12

231

Commands

Chapter 2
Table 50: Profile Option
Binary

ASCII

Description

0

Reserved

1

CREATE

Create a profile

2

DELETE

Delete an existing profile

3

CREATEELEMENT

Create an element in an existing profile

4

DELETEELEMENT

Delete an existing element in an existing profile

5

ACTIVATE

Activate an existing profile

6

DEACTIVATE

Deactivate a running profile

OEM6 Firmware Reference Manual Rev 12

232

Commands

Chapter 2

2.4.102 PSRDIFFSOURCE
Sets the pseudorange differential correction source
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to identify which base station to accept differential corrections from. This is useful
when the receiver is receiving corrections from multiple base stations. See also the RTKSOURCE command
on page 255.
1. When a valid PSRDIFFSOURCE command is received, the current correction is removed
immediately rather than in the time specified in PSRDIFFSOURCETIMEOUT (page 236).
2. To use L-Band differential corrections, an L-Band receiver and the OmniSTAR VBS service
or use of a DGPS service is required. Contact NovAtel for details.
3. For ALIGN users: the ALIGN rover will not use RTK corrections automatically to do
PSRDIFF positioning, as ALIGN is commonly used with a moving base. If you have a static
base and want a PSRDIFF position, at the ALIGN rover, set the PSRDIFFSOURCE to RTK.
Message ID:

493

Abbreviated ASCII Syntax:
PSRDIFFSOURCE type [id]
Factory Default:
PSRDIFFSOURCE auto ANY
ASCII Examples:
1. Enable only SBAS:
RTKSOURCE NONE
PSRDIFFSOURCE SBAS
SBASCONTROL ENABLE AUTO
2. Enable OmniSTAR VBS and HP or XP:
RTKSOURCE OMNISTAR
PSRDIFFSOURCE OMNISTAR
3. Enable RTK and PSRDIFF from RTCM, with a fall-back to SBAS:
RTKSOURCE RTCM ANY
PSRDIFFSOURCE RTCM ANY
SBASCONTROL ENABLE AUTO
4. Disable all corrections:
RTKSOURCE NONE
PSRDIFFSOURCE none
Since several errors affecting signal transmission are nearly the same for two receivers near
each other on the ground, a base at a known location can monitor the errors and generate
corrections for the rover to use. This method is called Differential GPS and is used by surveyors
to obtain submetre accuracy.
Major factors degrading GPS signals, which can be removed or reduced with differential
methods, are atmospheric, satellite orbit errors and satellite clock errors. Errors not removed
include receiver noise and multipath.

OEM6 Firmware Reference Manual Rev 12

233

Commands

Field

1

Chapter 2

Field Type

ASCII Binary
Value Value

PSRDIFFSOURCE
header

-

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

2

type

ID Type. All types (except NONE) may
See Table 51,
revert to SBAS (if enabled) or SINGLE
DGPS Type on position types. See Table 84, Position
page 234
or Velocity Type on page 396 a

3

Base station ID

Char [5] or ANY ID string

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Char[5]

8b

H+4

a. If ANY is chosen, the receiver ignores the ID string. Specify a Type when using base station IDs.
b. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

Table 51: DGPS Type
Binary

ASCII

Description

0

RTCM d

RTCM ID: 0 ≤ RTCM ID ≤ 1023 or ANY

1

RTCA d

RTCA ID: A four character string containing only alpha (a-z) or numeric characters
(0-9) or ANY

2

CMR d a

CMR ID: 0 ≤ CMR ID ≤ 31 or ANY

3

In the PSRDIFFSOURCE command, OMNISTAR enables OmniSTAR VBS and
disables other DGPS types. OmniSTAR VBS produces RTCM-type corrections. In
b d the RTKSOURCE command, OMNISTAR enables OmniSTAR HP/XP (if allowed)
OMNISTAR
and disables other RTK types. OmniSTAR HP/XP has its own filter, which
computes corrections to within about 10 cm accuracy

Reserved

5

SBAS c d

In the PSRDIFFSOURCE command, when enabled, SBAS such as WAAS, EGNOS
and MSAS, forces the use of SBAS as the pseudorange differential source. SBAS
is able to simultaneously track two SBAS satellites and incorporate the SBAS
corrections into the position to generate differential quality position solutions. An
SBAS-capable receiver permits anyone within the area of coverage to take
advantage of its benefits.
If SBAS is set in the RTKSOURCE command, it can not provide carrier phase
positioning and returns an error

6

RTKc

In the PSRDIFFSOURCE command, RTK enables using RTK correction types for
PSRDIFF positioning.The correction type used is determined by the setting of the
RTKSOURCE command

OEM6 Firmware Reference Manual Rev 12

234

Commands
Binary

10

Chapter 2
ASCII

AUTO c d

Description
In the PSRDIFFSOURCE command, AUTO means that if any correction format is
received then it will be used. If multiple correction formats are available, then
RTCM, RTCA and RTK will be preferred over OmniSTAR, which will be preferred
over SBAS messages. If RTCM, RTCA and RTK are all available then the type of
the first received message will be used.
In the RTKSOURCE command, AUTO means that both the NovAtel RTK filter and
the OmniSTAR HP/XP filter (if authorized) are enabled. The NovAtel RTK filter
selects the first received RTCM, RTCA, RTCMV3 or CMR message.
The BESTPOS log selects the best solution between NovAtel RTK and OmniSTAR
HP/XP

11

NONE c d

12

Reserved

13

RTCMV3 b a

RTCM Version 3.0 ID: 0 ≤ RTCMV3 ID ≤ 4095 or ANY

14

NOVATELX

NovAtel proprietary message format ID: A four character string containing alpha
(a-z) or numeric characters (0-9) or ANY

Disables all differential correction types

a. This cannot be used in the PSRDIFFSOURCE command.
b. Base station ID parameter is ignored.
c. Available only with the PSRDIFFSOURCE command.
d. All PSRDIFFSOURCE entries fall back to SBAS (except NONE).

OEM6 Firmware Reference Manual Rev 12

235

Commands

Chapter 2

2.4.103 PSRDIFFSOURCETIMEOUT
Sets pseudorange differential correction source timeout
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

When multiple differential correction sources are available, this command allows the user to set a time in
seconds, that the receiver will wait before switching to another differential source, if corrections from the
original source are lost.
Message ID:

1449

Abbreviated ASCII Syntax:
PSRDIFFSOURCETIMEOUT option [timeout]
Factory Default:
PSRDIFFSOURCETIMEOUT AUTO
ASCII Example:
PSRDIFFSOURCETIMEOUT auto
PSRDIFFSOURCETIMEOUT set 180

Field

Field Type

ASCII
Value

1

PSRDIFFSOURCE
TIMEOUT header

2

option

3

timeout

Binary
Value

-

AUTO

1

SET

2

0 to 3600 sec

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII ASCII or binary, respectively

H

0

Use AUTO or SET to set the time

Enum

4

H

Specify the timeout (default=0)

Ulong

4

H+4

236

Commands

Chapter 2

2.4.104 PSRDIFFTIMEOUT
Sets maximum age of pseudorange differential data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the maximum age of pseudorange differential correction data to use when
operating as a rover station. Received pseudorange differential correction data, older than the specified time,
is ignored. This time out period also applies to differential corrections generated from RTK corrections.
The RTCA Standard for scat-i stipulates that the maximum age of differential correction
messages cannot be greater than 22 seconds. Therefore, for RTCA rover users, the
recommended PSRDIFF delay setting is 22.
Message ID:

1450

Abbreviated ASCII Syntax:
PSRDIFFTIMEOUT delay
Factory Default:
PSRDIFFTIMEOUT 300
ASCII Example:
PSRDIFFTIMEOUT 60

Field

Field Type

ASCII Binary
Value Value

1

PRSDIFFTIMEOUT
header

2

delay

-

2 to 1000 s

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Maximum pseudorange differential age

4

H

Ulong

237

Commands

Chapter 2

2.4.105 QZSSECUTOFF
Sets QZSS satellite elevation cutoff
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the elevation cut-off angle for QZSS satellites. The receiver does not start
automatically searching for a QZSS satellite until it rises above the cut-off angle (when satellite position is
known). Tracked QZSS satellites that fall below the QZSSECUTOFF angle are no longer tracked unless they
are manually assigned (see the ASSIGN command on page 67).
1. Care must be taken when using QZSSECUTOFF command because the signals from lower
elevation satellites are traveling through more atmosphere and are therefore degraded. Use
of satellites below 5 degrees is not recommended.
2. Use the ELEVATIONCUTOFF command (see page 138) to set the cut-off angle for any
system.
3. For the OEM617D and FlexPak6D receivers, this command applies to both the primary and
secondary antennas.
Message ID:

1350

Abbreviated ASCII Syntax:
QZSSECUTOFF angle
Factory Default:
QZSSECUTOFF 5.0
ASCII Example
QZSSECUTOFF 10.0
This command permits a negative cut-off angle and can be used in the following situations:
•

The antenna is at a high altitude and can look below the local horizon

•

Satellites are visible below the horizon due to atmospheric refraction

Field

Field Type

ASCII Binary
Value Value

1

QZSSECUTOFF
header

2

angle

-

±90 degrees

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or binary,
respectively

H

0

Elevation cutoff angle relative to the
horizon

4

H

Float

238

Commands

Chapter 2

2.4.106 RAIMMODE
Configures RAIM mode
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to configure Receiver Autonomous Integrity Monitoring (RAIM) operation. This
command uses RTCA MOPS characteristics which defines the positioning accuracy requirements for
airborne lateral navigation (LNAV) and vertical navigation (VNAV) at 3 stages of flight:
1. En route travel
2. Terminal (within range of air terminal)
3. Non-precision approach
In order to ensure that the required level of accuracy is available in these phases of flight, MOPS requires the
computation of protection levels (HPL and VPL). MOPS has the following definitions that apply to NovAtel’s
RAIM feature:
Horizontal Protection Level (HPL) is a radius of the circle in the horizontal plane. Its center is at the true
position, that describes the region, assured to contain the indicated horizontal position. It is the horizontal
region where the missed alert and false alert requirements are met using autonomous fault detection.
Vertical Protection Level (VPL) is half the length of the segment on the vertical axis. Its center is at the true
position, that describes the region, assured to contain the indicated vertical position when autonomous fault
detection is used.
Horizontal Alert Limit (HAL) is a radius of the circle in the horizontal plane. Its center is at the true position,
that describes the region, required to contain the indicated horizontal position with the required probability.
Vertical Alert Limit (VAL) is half the length of the segment on the vertical axis. Its center is at the true
position, that describes the region, required to contain the indicated vertical position with certain probability.
Probability of False Alert (Pfa) is a false alert defined as the indication of a positioning failure, when a
positioning failure has not occurred (as a result of false detection). A false alert would cause a navigation
alert.

Detection strategy
NovAtel’s RAIM detection strategy uses the weighted Least-Squares Detection (LSA) method. This method
computes a solution using a LSA and is based on the sum of squares of weighted residuals. It is a
comparison between a root sum of squares of residuals and a decision threshold to determine a pass/fail
decision.

Isolation strategy
NovAtel RAIM uses the maximum residual method. Logically it is implemented as a second part of Fault
Detection and Exclusion (FDE) algorithm for LSA detection method. Weighted LSA residuals are
standardized individually and the largest residual is compared to a decision threshold. If it is more than the
threshold, the observation corresponding to this residual is declared faulty.
Message ID:

1285

Abbreviated ASCII Syntax:
RAIMMODE mode [hal [val [pfa]]]
Factory Default:
RAIMMODE default

OEM6 Firmware Reference Manual Rev 12

239

Commands

Chapter 2

Input Example:
RAIMMODE user 100 100 0.01
RAIMMODE terminal

Field

ASCII
Value

Field Type

Binary
Value

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

1

RAIMMODE
Header

2

MODE

See Table 52, RAIM Mode Types

3

HAL

5 ≤ HAL ≤ 9999.99

4

VAL

5 ≤ VAL ≤ 9999.99

5

PFA

-

Binary Binary
Bytes Offset

H

0

4

H

Horizontal alert limit (m) (Default = 0.0) Double

8

H+4

Vertical alert limit (m) (Default = 0.0)

Double

8

H+12

(Pfa)= 1e-7≤ Pfa ≤ 0.25 Probability of false alert (Default = 0.0) Double

8

H+20

Enum

Table 52: RAIM Mode Types
Binary

ASCII

Description

0

DISABLE

Do not do integrity monitoring of least squares solution

1

USER

User will specify alert limits and probability of false alert

2

DEFAULT

Use NovAtel RAIM (default)

3

APPROACH

Default numbers for non-precision approach navigation modes are used HAL = 556 m (0.3 nm), VAL = 50 m for LNAV/VNAV

4

TERMINAL

Default numbers for terminal navigation mode are used HAL = 1855 m (1 nm), no VAL requirement

5

ENROUTE

Default numbers for enroute navigation mode are used HAL = 3710m (2 nm), no VAL requirement

OEM6 Firmware Reference Manual Rev 12

240

Commands

Chapter 2

2.4.107 REFERENCESTATIONTIMEOUT
Sets timeout for removing previously stored base stations
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets how long the receiver will retain RTK base station co-ordinates. Shorter durations might
be required if the receiver is operating in a VRS RTK network that recycles base station IDs quickly.
Message ID:

2033

Abbreviated ASCII Syntax:
REFERENCESTATIONTIMEOUT option [timeout]
Factory Default:
REFERENCESTATIONTIMEOUT AUTO
ASCII Example:
REFERENCESTATIONTIMEOUT SET 90
Field

1

2

3

Field Type
REFERENCEST
ATIONTIMEOUT
header

option

timeout

ASCII Binary
Value Value

-

-

Description

Format

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

AUTOa 1

Timeout field is optional for AUTO and has
no effect
Enum

SET

0 is not accepted by SET command

2

1 to
1 to
Specify the time
3600 s 3600 s

Ulong

Binary Binary
Bytes Offset

H

0

4

H

4

H+4

a. AUTO option sets the timeout to 90 seconds. This behavior is subject to change.

OEM6 Firmware Reference Manual Rev 12

241

Commands

Chapter 2

2.4.108 RESET
Performs a hardware reset
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command performs a software reset. The receiver configuration reverts either to the factory default, if no
user configuration was saved or the last SAVECONFIG settings. Refer to the FRESET command on page 157
and SAVECONFIG command on page 260.
The optional delay field is used to set the number of seconds the receiver is to wait before resetting.
Message ID:

18

Abbreviated ASCII Syntax:
RESET [delay]
Input Example
RESET 30
1. The RESET command can be used to erase any unsaved changes to the receiver
configuration.
2. Unlike the FRESET command, the RESET command does not erase data stored in the NVM,
such as Almanac and Ephemeris data.

Field

Field Type

ASCII Binary
Value Value

1

RESET header -

2

delay (0-60)

-

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or
binary, respectively

H

0

Seconds to wait before resetting (default = 0) Ulong

4

H

OEM6 Firmware Reference Manual Rev 12

242

Commands

Chapter 2

2.4.109 RTKANTENNA
Specifies L1 phase center (PC) or ARP and enables/disables PC modeling
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to specify whether to use L1 phase center or Antenna Reference Point (ARP) positioning.
You can also decide whether or not to apply phase center variation modeling. If there are any conditions that
make a selected mode impossible, the solution status in the position log will indicate an error or warning.
L1 ARP offsets and L2 ARP offsets can be entered using the BASEANTENNAPCO command on page 83 and
THISANTENNAPCO command on page 312. Phase center variation parameters can be entered using the
BASEANTENNAPCV command on page 85 and THISANTENNAPCV command on page 313.
Error states occur if either the rover does not have the necessary antenna information entered or the base is
not sending sufficient information to work in the requested mode. Some examples of these error conditions
are:
•

RTCM Types 23 and 24 messages are received from the base and no model is available for the
specified base antenna

•

Phase center modeling is requested but the base is only sending RTCM Types 3 and 22

•

Position reference to the ARP is requested but no rover antenna model is available

Message ID:

858

Abbreviated ASCII Syntax:
RTKANTENNA posref pcv
Factory Default:
RTKANTENNA unknown disable
ASCII Example:
RTKANTENNA arp enable
This command is used for high precision RTK positioning allowing application of antenna offset
and phase center variation parameters.

Field

1

2

3

Field Type

ASCII Value

pcv

Description

Format

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

L1PC

0

L1 phase center position reference

ARP

1

ARP position reference

RTKANTENNA
header

posref

Binary
Value

UNKNOWN 2

Unknown position reference

DISABLE

0

Disable PCV modeling

ENABLE

1

Enable PCV modeling

OEM6 Firmware Reference Manual Rev 12

Binary Binary
Bytes Offset

H

0

Enum

4

H

Enum

4

H+4

243

Commands

Field

Field Type

Chapter 2

ASCII Value

Binary
Value

Description

Format

Binary Binary
Bytes Offset

4

Reserved

Bool

4

H+8

5

Reserved

Bool

4

H+12

OEM6 Firmware Reference Manual Rev 12

244

Commands

Chapter 2

2.4.110 RTKASSIST
Enable or disable RTK ASSIST
OEM Platform:

628, FlexPak6, SMART6-L

This command enables or disables RTK ASSIST.
RTK ASSIST uses L-Band delivered corrections to enable RTK operation to continue for extended durations
if RTK corrections are lost. In order to use RTK ASSIST, a receiver model with L-Band tracking capability and
an RTK ASSIST subscription are needed. Using this subscription, up to 20 minutes of extended RTK
operation are possible. Smaller durations can be set using the RTKASSISTTIMEOUT command (see
page 246).
When active, RTK ASSIST is shown in the RTKPOS and BESTPOS extended solution status field (see
Table 87, Extended Solution Status on page 398). Further details on the RTK ASSIST status are available
through the RTKASSISTSTATUS log on page 630.



For reliable RTK ASSIST performance, the RTK base station position must be within 1 metre of
its true WGS84 position.

Message ID:

1985

Abbreviated ASCII Syntax:
RTKASSIST switch
Factory Default:
RTKASSIST enable
ASCII Example:
RTKASSIST disable

Field

ASCII
Value

Field Type

1

RTKASSIST
header

2

switch

Binary
Value

Description

Format

-

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

DISABLE

0

Disable RTK ASSIST

ENABLE

1

Enable RTK ASSIST

OEM6 Firmware Reference Manual Rev 12

Enum

Binary
Bytes

Binary
Offset

H

0

4

H

245

Commands

Chapter 2

2.4.111 RTKASSISTTIMEOUT
Set the maximum RTK ASSIST duration
OEM Platform:

628, FlexPak6, SMART6-L

This command sets how long the receiver will report an RTK solution when RTK is being maintained by RTK
ASSIST. The maximum duration of extended RTK operation permitted by an RTK ASSIST subscription is 20
minutes. Values less than the subscription limit can be set using the RTKASSISTTIMEOUT command.



When RTK ASSIST is active, the RTKTIMEOUT command is disregarded. The maximum time
that RTK will continue past an RTK corrections outage is controlled by RTKASSISTTIMEOUT.

Message ID:

2003

Abbreviated ASCII Syntax:
RTKASSISTTIMEOUT limit_type [limit_value]
Factory Default:
RTKASSISTTIMEOUT SUBSCRIPTION_LIMIT
ASCII Example:
RTKASSISTTIMEOUT USER_LIMIT 900

Field

1

2

Field Type

ASCII Value

RTKASSIST
TIMEOUT
header

Binary
Value

-

Description

Format

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or
binary, respectively

SUBSCRIPTION_
0
LIMIT

Use the 20 minute duration permitted
by an RTK ASSIST subscription

USER_LIMIT

The maximum RTK ASSIST duration Enum
is user set, up to the limit permitted
by the subscription.

limit_type
1

Binary Binary
Bytes Offset

H

0

4

H

4

H+4

Time out value in seconds.
3

limit_value

OEM6 Firmware Reference Manual Rev 12

Only valid for the USER_LIMIT Limit Ulong
Type.

246

Commands

Chapter 2

2.4.112 RTKCOMMAND
Resets or sets the RTK filter to default
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to reset the RTK filter or clear any set RTK parameters. The RESET parameter
causes the AdVance RTK algorithm to undergo a complete reset, forcing the system to restart the ambiguity
resolution calculations. The USE_DEFAULTS action executes the following command: RTKDYNAMICS
AUTO.
Message ID:

97

Abbreviated ASCII Syntax:
RTKCOMMAND action
Factory Default:
RTKCOMMAND USE_DEFAULTS
ASCII Example:
RTKCOMMAND reset

Field

Field Type

ASCII Value

1

RTKCOMMAND
header

2

action

Binary
Value

-

Description

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

USE_DEFAULTS 0

Reset to defaults

RESET

Reset RTK filter

OEM6 Firmware Reference Manual Rev 12

1

Format

Enum

Binary Binary
Bytes Offset

H

0

4

H

247

Commands

Chapter 2

2.4.113 RTKDYNAMICS
Sets the RTK dynamics mode
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to specify how the receiver looks at the data. There are three modes: STATIC,
DYNAMIC and AUTO. The STATIC mode forces the RTK software to treat the rover station as though it were
stationary.
DYNAMIC mode forces the software to treat the rover as though it were in motion. If the receiver is
undergoing very slow, steady motion (<2.5 cm/s for more than 5 seconds), use DYNAMIC mode (as opposed
to AUTO) to prevent inaccurate results and possible resets.
For reliable performance, the antenna should not move more than 1-2 cm when in STATIC
mode.
Message ID:

183

Abbreviated ASCII Syntax:
RTKDYNAMICS mode
Factory Default:
RTKDYNAMICS dynamic
ASCII Example:
RTKDYNAMICS static
Use the STATIC option to decrease the time required to fix ambiguities and reduce the amount
of noise in the position solution. If STATIC mode is used when the antenna is not static, the
receiver will have erroneous solutions and unnecessary RTK resets.

Field

ASCII
Value

Field Type

Binary
Value

1

RTKDYNAMICS
header

-

2

mode

Table 53,
Dynamics Mode

-

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Set the dynamics mode

4

H

Enum

Table 53: Dynamics Mode
ASCII

Binary

Description

AUTO

0

Automatically determines dynamics mode

STATIC

1

Static mode

DYNAMIC

2

Dynamic mode

OEM6 Firmware Reference Manual Rev 12

248

Commands

Chapter 2

2.4.114 RTKELEVMASK
Sets the RTK elevation mask
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the elevation mask for generating RTK corrections at a base station. Any satellites below
the elevation mask will not be included in the correction messages. Intended for RTCA, it works only with
RTCAOBS, RTCAOBS2 or RTCAOBS3 (see page 619). This command is useful when the amount of
bandwidth available for transmitting corrections is limited.
Message ID:

91

Abbreviated ASCII Syntax:
RTKELEVMASK masktype [angle]
Factory Default:
RTKELEVMASK auto 0.0
ASCII Example:
RTKELEVMASK auto 2.0

Field

ASCII
Value

Field Type

1

RTKELEVMASK
header

2

MaskType

3

Angle

Binary
Value

-

AUTO

0

USER

1

0 to 90

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Type of elevation mask for RTK

Enum

4

H

Elevation mask angle
(default=-1.0)

Float

4

H+4

249

Commands

Chapter 2

2.4.115 RTKINTEGERCRITERIA
Report inaccurate fixed-integer RTK positions with float solution type
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command forces a fixed-integer RTK position to be reported as float if the estimated solution standard
deviation exceeds a threshold.
Normally, a fixed-integer solution is very accurate. However, in some rarely-occurring situations, even a
fixed-integer solution can become inaccurate; for example, if the DOP is high due to satellites not being
visible. In such cases, the accuracy of the RTK solution might be worse than what is customarily expected
from a fixed-integer solution. The RTKINTEGERCRITERIA command changes the solution type of these
high standard deviation integer solutions to their float equivalent. NARROW_INT, for instance, becomes
NARROW_FLOAT. Depending on the GGAQUALITY command setting, this will also impact the NMEA GGA
quality flag.
Message ID:

2070

Abbreviated ASCII Syntax:
RTKINTEGERCRITERIA criteria threshold
Factory Default:
RTKINTEGERCRITERIA TOTAL_STDDEV 1.0
ASCII Example:
RTKINTEGERCRITERIA HORIZONTAL_STDDEV 0.25

Field

1

Field Type

ASCII Value

RTKINTEGER
CRITERIA
header

TOTAL_STDDEV
2

threshold

0.01 m and higher

OEM6 Firmware Reference Manual Rev 12

Description

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

1

Test the threshold against the
estimated total, 3D, standard
deviation

2

Test the threshold against the
estimated horizontal standard
deviation

criteria
HORIZONTAL_
STDDEV

3

Binary
Value

Estimated solution standard
deviation required for solution to
be reported as integer

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Float

4

H+4

250

Commands

Chapter 2

2.4.116 RTKMATCHEDTIMEOUT
Sets RTK filter reset time after corrections are lost
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the length of time the receiver continues to use the last RTK correction data once the
corrections stop. Once this time is reached, the RTK filter is reset.
Message ID:

1447

Abbreviated ASCII Syntax:
RTKMATCHEDTIMEOUT timeout
ASCII Example:
RTKMATCHEDTIMEOUT 180
Factory Default
RTKMATCHEDTIMEOUT 300

Field

ASCII
Value

Field Type

Binary
Value

1

RTKMATCHED
TIMEOUT
header

-

2

timeout

1 to 3600 s

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Time out period

4

H

Ulong

251

Commands

Chapter 2

2.4.117 RTKNETWORK
Specifies the RTK network mode
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Network RTK uses permanent base station installations, allowing kinematic GNSS users to achieve
centimetre accuracies, without the need of setting up a GNSS base station, at a known site. This command
sets the RTK network mode for a specific network. For more details on Network RTK, refer to the application
note APN-041 Network RTK, available on our website a www.novatel.com/support/search.
Message ID:

951

Abbreviated ASCII Syntax:
RTKNETWORK mode [network#]
Factory Default:
RTKNETWORK AUTO
Input Example:
RTKNETWORK imax

Field

ASCII
Value

Field Type

Binary
Value

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Format

Binary Binary
Bytes Offset

-

H

0

4

H

4

H+4

1

RTKNETWORK
header

2

mode

Table 54, Network RTK network mode. The factory default
RTK Mode on
is auto where the receiver switches to Enum
page 253
the first available network RTK source

3

network#

4-24

-

OEM6 Firmware Reference Manual Rev 12

Specify a number for the network
(default = 0)

Ulong

252

Commands

Chapter 2
Table 54: Network RTK Mode

Binary

ASCII

Description

0

DISABLE

Single reference station RTK mode. All received network RTK corrections are ignored.

1-4

Reserved

5

VRS

The Virtual Reference Station (VRS) or Virtual Base Station (VBS) idea introduced by
Trimble, is that a base station is artificially created in the vicinity of a rover receiver. All
baseline length dependent errors, such as abnormal troposphere variation, ionospheric
disturbances and orbital errors, are reduced for this VRS. The rover receiving VRS
information has a lower level of these errors than a distant base station. The VRS is
calculated for a position, supplied by the rover during communication start up, with
networking software. The VRS position can change if the rover is far away from the
initial point. The format for sending the rover’s position is standard NMEA format. Most
rovers receive VRS data, for a calculated base station, within a couple of metres away.
The VRS approach requires bi-directional communication for supplying the rover’s
position to the networking software.

IMAX

The iMAX idea, introduced by Leica Geosystems, is that networking software
corrections, based on the rover’s position, are calculated as with VRS. However,
instead of calculating the base station observations for the provided position or another
position closer to the base station, original observation information is corrected with the
calculated corrections and broadcast. VRS works so that although the rover is unaware
of the errors the VRS is taking care of, there still might be ionospheric remains in the
base station observations. iMAX provides actual base station position information. The
rover may assume the base station is at a distance and open its settings for estimation
of the remaining ionospheric residuals. The iMAX method may trigger the rover to open
its settings further than required, since the networking software removes at least part of
the ionospheric disturbances. However, compared to VRS above, this approach is safer
since it notifies the rover when there might be baseline length dependent errors in the
observation information. iMAX requires bi-directional communication to the networking
software for supplying the base station observation information.

FKP

The FKP method delivers the information from a base station network to the rover. No
precise knowledge of the rover’s position is required for providing the correct
information. The corrections are deployed as gradients to be used for interpolating to
the rover’s actual position.

8

MAX

The basic principle of the master-auxiliary concept is to provide, in compact form, as
much of the information from the network and the errors it is observing to the rover as
possible. With more information about the state and distribution of the dispersive and
non-dispersive errors across the network, the rover is able to use more intelligent
algorithms in the determination of its position solution. Each supplier of reference
station software will have their own proprietary algorithms for modeling or estimating
these error sources. The rover system can decide to use or to neglect the network RTK
information, depending on its own firmware algorithm performance.

9

Reserved

6

7

10

AUTO

Default value, assume single base. If network RTK corrections are detected then the
receiver will switch to the appropriate mode. iMAX and VRS can only be detected using
RTCMV3, however, it is not possible to distinguish between iMAX or VRS. If iMAX or
VRS is detected, then iMAX will be assumed.

OEM6 Firmware Reference Manual Rev 12

253

Commands

Chapter 2

2.4.118 RTKQUALITYLEVEL
Sets an RTK quality mode
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to select an RTK quality mode.
Message ID:

844

Abbreviated ASCII Syntax:
RTKQUALITYLEVEL mode
Factory Default:
RTKQUALITYLEVEL normal
ASCII Example:
RTKQUALITYLEVEL extra_safe
The EXTRA_SAFE command is needed in areas where the signal is partially blocked and the
position solution in NORMAL mode shows NARROW_INT even though the real position
solution is out by several metres. Using EXTRA_SAFE in these environments means the
solution will be slower getting to NARROW_INT but it is less likely to be erroneous.

Field

ASCII
Value

Field Type

Binary
Value

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

1

RTKQUALITYLEVEL header

-

2

mode

See Table 55, RTK
Set the RTK quality level mode
Quality Mode

-

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Table 55: RTK Quality Mode
ASCII

Binary

Description

NORMAL

1

Normal RTK

EXTRA_SAFE

4

Extra Safe RTK

OEM6 Firmware Reference Manual Rev 12

254

Commands

Chapter 2

2.4.119 RTKSOURCE
Sets the RTK correction source
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to identify from which base station to accept RTK (RTCM, RTCMV3, RTCA, CMR and
OmniSTAR (HP/XP)) differential corrections. This is useful when the receiver is receiving corrections from
multiple base stations. See also the PSRDIFFSOURCE command on page 233.
To use OmniSTAR HP/XP differential corrections, a NovAtel receiver with L-Band capability and
a subscription to the OmniSTAR service are required. Contact NovAtel for details.
Message ID:

494

Abbreviated ASCII Syntax:
RTKSOURCE type [id]
Factory Default:
RTKSOURCE auto ANY
ASCII Examples:
1. Specify the format before specifying the base station IDs:
RTKSOURCE rtcmv3 5
RTKSOURCE rtcm 6
2. Select only SBAS:
RTKSOURCE NONE
PSRDIFFSOURCE SBAS
SBASCONTROL ENABLE AUTO
3. Enable OmniSTAR HP and VBS:
RTKSOURCE OMNISTAR
PSRDIFFSOURCE OMNISTAR
4. Enable RTK and PSRDIFF from RTCM, with a fall-back to SBAS:
RTKSOURCE RTCM ANY
PSRDIFFSOURCE RTCM ANY
SBASCONTROL ENABLE AUTO
Consider an agricultural example where a farmer has their own RTCM base station set up but
due to either obstructions or radio problems, occasionally experiences loss of corrections. By
specifying a fall back to SBAS, the farmer could set up their receiver to use transmitted RTCM
corrections when available but fall back to SBAS. Also, if they decided to get an OmniSTAR
subscription, they could switch to the OmniSTAR corrections.
.

OEM6 Firmware Reference Manual Rev 12

255

Commands

Field

Chapter 2
ASCII
Value

Field Type

Binary
Value

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Description

1

RTKSOURCE
header

-

2

type

See Table 51, DGPS
Type on page 234

ID Type a

Enum

4

H

3

Base station ID

Char [4] or ANY

ID string

Char[5]

8b

H+4

-

a. If ANY chosen, the receiver ignores the ID string. Specify a type when using base station IDs.
b. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

OEM6 Firmware Reference Manual Rev 12

256

Commands

Chapter 2

2.4.120 RTKSOURCETIMEOUT
Sets RTK correction source timeout
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

When multiple RTK correction sources are available, this command allows the user to set a time, in seconds,
that the receiver will wait before switching to another RTK correction source if corrections from the original
source are lost.
Message ID:

1445

Abbreviated ASCII Syntax:
RTKSOURCETIMEOUT option [timeout]
Factory Default:
RTKSOURCETIMEOUT AUTO
ASCII Example:
RTKSOURCETIMEOUT auto
RTKSOURCETIMEOUT set 180

Field

1

2

3

ASCII
Value

Field Type

timeout

Description

Format

-

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

AUTOa

1

Timeout field is optional for AUTO and
has no effect

SET

2

0 is not accepted by SET command

RTKSOURCE
TIMEOUT
header

option

Binary
Value

1 to 3600 s
(maximum)

Specify the time
(default=0 for the AUTO option)

Binary Binary
Bytes Offset

H

0

Enum

4

H

Ulong

4

H+4

a. AUTO option sets timeout according to network type or other self-detected conditions.

OEM6 Firmware Reference Manual Rev 12

257

Commands

Chapter 2

2.4.121 RTKSVENTRIES
Sets number of satellites in corrections
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the number of satellites (at the highest elevation) that are transmitted in the RTK
corrections from a base station receiver. Intended for RTCA, it works only with RTCAOBS, RTCAOBS2 or
RTCAOBS3 (see page 619). This is useful when the amount of bandwidth available for transmitting
corrections is limited.
Message ID:

92

Abbreviated ASCII Syntax:
RTKSVENTRIES number
Factory Default:
RTKSVENTRIES 24
ASCII Example:
RTKSVENTRIES 7
GPS devices have enabled many transit and fleet authorities to provide Automatic Vehicle
Location (AVL). AVL systems track the position of individual vehicles and relay that data back to
a remote dispatch location that can store or better utilize the information. Consider the
implementation of an AVL system within a police department, to automatically log and keep
track of the location of each cruiser. Typically a fleet uses a 9600 bps connection where AVL
data is relayed back to headquarters. The limited bandwidth of the radio must be shared
amongst the AVL and other systems in multiple cruisers.
When operating with a low baud rate radio transmitter (9600 or lower), especially over a long
distance, the AVL system could limit the number of satellites for which corrections are sent
using the RTKSVENTRIES command.

Field

Field Type

ASCII Binary
Value Value

1

RTKSVENTRIES
header

2

number

-

4-24

OEM6 Firmware Reference Manual Rev 12

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Format

Binary
Bytes

Binary
Offset

-

H

0

4

H

The number of SVs to be transmitted in
Ulong
correction messages

258

Commands

Chapter 2

2.4.122 RTKTIMEOUT
Sets maximum age of RTK data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the maximum age of RTK data to use when operating as a rover station. RTK
data received that is older than the specified time is ignored.



When RTK ASSIST is active, the RTKTIMEOUT command is disregarded. The maximum time
that RTK will continue past an RTK corrections outage is controlled by the settings in the
RTKASSISTTIMEOUT command (see page 246).

Message ID:

910

Abbreviated ASCII Syntax:
RTKTIMEOUT delay
Factory Default:
RTKTIMEOUT 60
ASCII Example (rover):
RTKTIMEOUT 20
See the DGPSEPHEMDELAY command on page 120 to set the ephemeris changeover delay for
base stations.

Field

ASCII
Value

Field Type

1

RTKTIMEOUT
header

-

2

delay

5 to 60 s

Binary
Value

-

OEM6 Firmware Reference Manual Rev 12

Binary
Bytes

Binary
Offset

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Maximum RTK data age

4

H

Description

Format

Ulong

259

Commands

Chapter 2

2.4.123 SAVECONFIG
Save current configuration in NVM
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command saves the present configuration in Non-Volatile Memory (NVM). The configuration includes
the current log settings, FIX settings, port configurations and so on. The output is in the RXCONFIG log (see
page 641). See also the FRESET command on page 157.
If using the SAVECONFIG command in NovAtel Connect, ensure that you have all windows
other than the Console window closed. Otherwise, log requests used for the various windows
are saved as well. This will result in unnecessary data being logged.
Message ID:

19

Abbreviated ASCII Syntax:
SAVECONFIG
Field

1

ASCII
Value

Field Type
SAVECONFIG
header

-

Binary
Value
-

OEM6 Firmware Reference Manual Rev 12

Description

Format

Command header. See Chapter
1, Messages on page 19 for more information.

Binary
Bytes

Binary
Offset

H

0

260

Commands

Chapter 2

2.4.124 SAVEETHERNETDATA
Save the configuration data associated with an Ethernet interface
OEM Platform:

628, 638, FlexPak6, ProPak6

Saving the configuration data for an Ethernet interface allows the interface to start automatically at boot time
and be configured with either a static IP address or to obtain an address using DHCP. The
SAVEETHERNETDATA command saves the configuration for the interface previously entered using the
ETHCONFIG, IPCONFIG and DNSCONFIG commands (page 140, page 183 and page 127). The configuration
data that is saved will survive a RESET and FRESET command (page 242 and page 157). To clear the
Ethernet interface configuration data, the FRESET ETHERNET command is used. It is not necessary to issue
the SAVECONFIG command to save the Ethernet interface configuration data. In fact, if SAVECONFIG is used
to save the ETHCONFIG, IPCONFIG and DNSCONFIG commands, the configuration saved by
SAVEETHERNETDATA will take precedence over the SAVECONFIG configuration.
Message ID:

1679

Abbreviated ASCII Syntax:
SAVEETHERNETDATA [Interface]
ASCII Example:
ETHCONFIG ETHA AUTO AUTO AUTO AUTO
IPCONFIG ETHA STATIC 192.168.8.11 255.255.255.0 192.168.8.1
dnsconfig 1 192.168.4.200
SAVEETHERNETDATA ETHA
Field

Field Type

ASCII Binary
Value Value

1

SAVEETHERNET
DATA header

2

Interface

-

ETHA 2

Description
This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Format

Binary Binary
Bytes Offset

-

H

0

4

H

The Ethernet interface to save the
Enum
configuration data for. The default is ETHA.

Note that the configurations set using the ICOMCONFIG and NTRIPCONFIG commands are not saved by the
SAVEETHERDATA command. The following factory default ICOM configurations can be used if Ethernet
access to the receiver is required immediately after the receiver is RESET or FRESET.
ICOMCONFIG ICOM1 TCP :3001
ICOMCONFIG ICOM2 TCP :3002
ICOMCONFIG ICOM3 TCP :3003
See also the following commands: ETHCONFIG command on page 140, IPCONFIG command on page 183,
DNSCONFIG command on page 127 and FRESET command on page 157.

OEM6 Firmware Reference Manual Rev 12

261

Commands

Chapter 2

2.4.125 SBASCONTROL
Sets SBAS test mode and PRN
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to dictate how the receiver tracks and uses correction data from Satellite Based
Augmentation Systems (SBAS).
To enable the position solution corrections, issue the SBASCONTROL ENABLE command. The receiver does
not, by default, attempt to track or use any SBAS signals satellites unless told to do so by the SBASCONTROL
command. When in AUTO mode, if the receiver is outside the defined satellite system’s corrections grid, it
reverts to ANY mode and chooses a system based on other criteria.
The “testmode” parameter in the example provides a method to use a particular satellite even if it is currently
operating in test mode. The recommended setting for tracking satellites operating in test mode is
ZEROTOTWO. On a simulator, you may want to leave this parameter off or specify NONE explicitly.
When using the SBASCONTROL command to direct the receiver to use a specific correction type, the receiver
begins to search for and track the relevant GEO PRNs for that correction type only.
The receiver can be forced to track a specific PRN using the ASSIGN command. The receiver can also be
forced to use the corrections from a specific SBAS PRN using the SBASCONTROL command.
Disable stops the corrections from being used.
Message ID:

652

Abbreviated ASCII Syntax:
SBASCONTROL switch [system] [prn] [testmode]
Factory Default:
SBASCONTROL disable
ASCII Example:
SBASCONTROL enable waas
Field

1

Field Type

ASCII Value

SBASCONTROL
header

DISABLE
2

system

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

Choose the SBAS the receiver will
Enum
use

4

H+4

Description

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

0

Receiver does not use the SBAS
corrections it receives (default)

1

Receiver uses the SBAS
corrections it receives

switch
ENABLE

3

Binary
Value

See Table 56, System
Types on page 263

OEM6 Firmware Reference Manual Rev 12

262

Commands

Field

4

5

Chapter 2

Field Type

prn

testmode

ASCII Value

Binary
Value

Description

0

Receiver uses any PRN (default)

120-138 and 183-187

Receiver uses SBAS corrections
only from this PRN

NONE

0

Receiver interprets Type 0
messages as they are intended (as
do not use) (default)

ZEROTOTWO

1

Receiver interprets Type 0
messages as Type 2 messages

IGNOREZERO 2

Format

Binary Binary
Bytes Offset

Ulong

4

H+8

Enum

4

H+12

Receiver ignores the usual
interpretation of Type 0 messages
(as do not use) and continues
Table 56: System Types

ASCII

Binary

NONE

0

AUTO

1

Description
Does not use any SBAS satellites
(Default for SBASCONTROL DISABLE)
Automatically determines satellite system to use and prevents the
receiver from using satellites outside of the service area
(Default for SBASCONTROL ENABLE)

ANY

2

Uses any and all SBAS satellites found

WAAS

3

Uses only WAAS satellites

EGNOS

4

Uses only EGNOS satellites

MSAS

5

Uses only MSAS satellites

GAGAN

6

Uses only GAGAN satellites

QZSS

7

Uses only QZSS SAIF signals

OEM6 Firmware Reference Manual Rev 12

263

Commands

Chapter 2

2.4.126 SBASECUTOFF
Sets SBAS satellite elevation cut-off
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the elevation cut-off angle for SBAS satellites. The receiver does not start automatically
searching for an SBAS satellite until it rises above the cut-off angle (when satellite position is known).
Tracked SBAS satellites that fall below the SBASECUTOFF angle are no longer tracked unless they are
manually assigned (see the ASSIGN command on page 67).
Use the ELEVATIONCUTOFF command (see page 138) to set the cut-off angle for all other
systems.
Message ID:

1000

Abbreviated ASCII Syntax:
SBASECUTOFF angle
Factory Default:
SBASECUTOFF -5.0
ASCII Example:
SBASECUTOFF 10.0
This command permits a negative cut-off angle and can be used in the following situations:

Field

•

The antenna is at a high altitude and can look below the local horizon

•

Satellites are visible below the horizon due to atmospheric refraction

ASCII
Value

Field Type

Binary
Value

1

SBASECUTOFF
header

-

2

angle

±90.0 degrees

-

OEM6 Firmware Reference Manual Rev 12

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Format

Binary Binary
Bytes Offset

-

H

0

4

H

Elevation cut-off angle relative to horizon Float

264

Commands

Chapter 2

2.4.127 SBASTIMEOUT
Sets the SBAS position time out
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to set the amount of time the receiver remains in an SBAS position if it stops receiving
SBAS corrections.
Message ID:

1001

Abbreviated ASCII Syntax:
SBASTIMEOUT mode [delay]
Factory Default:
SBASTIMEOUT auto
ASCII Example:
SBASTIMEOUT set 100
When the time out mode is AUTO, the time out delay is 180 s.

Field

ASCII
Value

Field Type

Binary
Value

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

4

H

1

SBASTIMEOUT
header

2

mode

See Table 57, SBAS
Time Out Mode

Time out mode

Enum

3

delay

2 to 1000 s

Maximum SBAS position age
(default=180)

Double 8

H+4

4

Reserved

Double 8

H+12

-

Table 57: SBAS Time Out Mode
Binary

ASCII

0

Reserved

1

AUTO

Set the default value (180 s)

2

SET

Set the delay in seconds

OEM6 Firmware Reference Manual Rev 12

Description

265

Commands

Chapter 2

2.4.128 SELECTCHANCONFIG
Sets the channel configuration
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Some software models come with support for more than one channel configuration, which can be verified by
logging CHANCONFIGLIST (see page 417). The SELECTCHANCONFIG command is used to pick a different
channel configuration. If a different channel configuration is selected via the SELECTCHANCONFIG command,
the receiver resets and starts up with the new configuration. The Set in Use number in the
CHANCONFIGLIST log changes as a result.
After a FRESET, the channel configuration is reset to 1.

Message ID:

1149

Abbreviated ASCII Syntax:
SELECTCHANCONFIG chanconfigsetting
Factory Default:
SELECTCHANCONFIG 1
ASCII Example:
SELECTCHANCONFIG 2
Field

Field Type

Description

Format

Binary Binary
Bytes Offset

1

SELECTCHANCONFIG
header

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or binary,
respectively

-

H

0

2

chanconfigsetting

Channel configuration to use

Ulong

4

H

OEM6 Firmware Reference Manual Rev 12

266

Commands

Chapter 2

Below is a use case example of the SELECTCHANCONFIG command. Abbreviated ASCII
commands and logs are used to better illustrate the example.
1. LOG VERSION to show the current model. For example:
GPSCARD "D2LR0RCCR" "BFN11230026" "OEM628-1.00" "OEM060200RN0000"
"OEM060200RB0000" "2012/Mar/22" "10:51:30"
2. “D2L” prefix in the model indicates it is a GPS+GLONASS L1/L2 with SBAS and LBAND
functionality.
3. LOG CHANCONFIGLIST to show what the channel configuration options are and which
channel configuration set is being used.
CHANCONFIGLIST COM1 0 84.5 FINESTEERING 1684 158935.214 00000020
d1c0 10526
1 2
4
16 GPSL1L2
4 SBASL1
14 GLOL1L2
1 LBAND
4
16 GPSL1L2PL2C
4 SBASL1
14 GLOL1L2PL2C
1 LBAND
4. There are two options given for the model and the first channel configuration set is currently
being used.
5. If the user would like to use the second channel configuration set where the receiver would
explicitly track both L2P and L2C signals, SELECTCHANCONFIG 2 would be entered.
6. The receiver receives the command and resets. At startup, the second channel
configuration set is configured.
7. To verify that setting has changed, enter LOG CHANCONFIGLIST:
CHANCONFIGLIST COM1 0 84.5 FINESTEERING 1684 158935.214 00000020
d1c0 10526
2 2
4
16 GPSL1L2PL2C
4 SBASL1
14 GLOL1L2PL2C
1 LBAND
8. To further verify, enter LOG TRACKSTAT to show all the configured channels.

OEM6 Firmware Reference Manual Rev 12

267

Commands

Chapter 2

2.4.129 SEND
Sends an ASCII message to a COM port
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to send ASCII printable data from any of the COM or USB ports to a specified
communications port. This is a one time command, therefore the data message must be preceded by the
SEND command and followed by  each time data is sent. If the data string contains delimiters (that is,
spaces, commas, tabs and so on), the entire string must be contained within double quotation marks.
Carriage return and line feed characters (for example, 0x0D, 0x0A) are appended to the sent ASCII data.
Message ID:

177

Abbreviated ASCII Syntax:
SEND [port] data
ASCII Example
SEND com1 “log com1 rtcaobs ontime 5”
Scenario: Assume you are operating receivers as base and rover stations. It could also be
assumed that the base station is unattended but operational and you wish to control it from the
rover station. From the rover station, you could establish the data link and command the base
station receiver to send differential corrections.

The SEND command can be used to send commands and configure the OEM615 within the
ProPak6 via COM5.
Figure 8: Using the SEND Command
RTCAOBS data log...

COM2
COM 1

log com 1 rtcaobs ontime 5
COM 1

COM 2

I/O

COM2
COM 2

I/O

COM1

COM1

Preset base interfacemode:
interfacemode com1 novatel rtca
Serial Cables

Host PC - Base
(Operational with position fixed)

OEM6 Firmware Reference Manual Rev 12

Send an RTCA interfacemode command:
interfacemode com1 rtca novatel
send com1 “log com
1 rtcaobs ontime 5”
com1

Host PC - Rover
(Rover station is commanding base
station to send RTCAOBS log)

268

Commands

Field

Field
Type

Chapter 2

Binary
Value

ASCII Value

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

1

SEND
header

-

2

port

See Table 4, Detailed Port
Output port (default=THISPORT) Enum
Identifier on page 24

3

Max 100 character string
(99 typed visible chars and
message
ASCII data to send
a null char added by the
firmware automatically)

-

Binary
Bytes

Format

-

Binary
Offset

H

0

4

H

String
a H+4
[max 100] Variable

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

269

Commands

Chapter 2

2.4.130 SENDHEX
Send non-printable characters in hex pairs
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is like the SEND command (see page 268) except it is used to send non-printable characters
expressed as hexadecimal pairs. Carriage return and line feed characters (for example, 0x0D, 0x0A) will not
be appended to the sent data and so must be explicitly added to the data if needed.
Message ID:

178

Abbreviated ASCII Syntax:
SENDHEX [port] length data
Input Example:
SENDHEX COM1 6 143Ab5910D0A

Field

Field
Type

ASCII
Value

Binary
Value

Description

Binary
Bytes

Format

Binary
Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

1

SENDHEX
header

2

port

See Table 4, Detailed Port
Identifier on page 24

Output port
(default=THISPORT)

Enum

4

H

3

length

0 - 700

Number of hex pairs

Ulong

4

H+4

message

limited to a 700 maximum
string (1400 pair hex). Even
number of ASCII characters
Data
from set of 0-9, A-F. No
spaces are allowed between
pairs of characters

4

-

String
a H+8
[max 700] Variable

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

270

Commands

Chapter 2

2.4.131 SERIALCONFIG
Configures serial port settings
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

1. This replaces the COM command. Also refer to the ECHO command on page 134.
2. The SERIALCONFIG command can be used as a log to confirm settings.
3. The entire content of the current log is sent before pausing due to the receipt of the XOFF
character.
The current SERIALCONFIG port configuration can be reset to its default state by sending it two hardware
break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds) with a pause of
at least 250 milliseconds following the second break.This will:
•

Stop the logging of data on the current port (see the UNLOGALL command on page 330)

•

Clear the transmit and receive buffers on the current port

•

Return the current port to its default settings (see Factory Defaults on page 37 for details)

•

Set the interface mode to NovAtel for both input and output (see the INTERFACEMODE command on
page 176)

See also Factory Defaults on page 37 for a description of the factory defaults.
1. The COMCONTROL command (see page 109) may conflict with handshaking of the selected
COM port. If handshaking is enabled, then unexpected results may occur.
2. Baud rates higher than 115,200 bps are not supported by standard PC hardware. Special
PC hardware may be required for higher rates, including 230400 bps, 460800 bps and
921600 bps. Also, some PC's have trouble with baud rates beyond 57600 bps. Avoid
having COM ports of two receivers connected together using baud rates that do not match.
Data transmitted through a port operating at a slower baud rate may be misinterpreted as
break signals by the receiving port if it is operating at a higher baud rate because data
transmitted at the lower baud rate is stretched relative to the higher baud rate. In this case,
configure the receiving port to break detection disabled using the SERIALCONFIG
command.
Use the SERIALCONFIG command before using the INTERFACEMODE command on each port.
Turn break detection off using the SERIALCONFIG command to stop the port from resetting
because it is interpreting incoming bits as a break command.
Message ID:

1246

Abbreviated ASCII Syntax:
SERIALCONFIG [port] baud [parity[databits[stopbits[handshaking[break]]]]]
Factory Defaults:
SERIALCONFIG
SERIALCONFIG
SERIALCONFIG
SERIALCONFIG
SERIALCONFIG
SERIALCONFIG

COM1
COM2
COM3
COM4
COM5
COM6

9600
9600
9600
9600
9600
9600

OEM6 Firmware Reference Manual Rev 12

N
N
N
N
N
N

8
8
8
8
8
8

1
1
1
1
1
1

N
N
N
N
N
N

ON
ON
ON
ON
ON
ON

271

Commands

Chapter 2

ASCII Example:
serialconfig com1 9600 n 8 1 n off

Field

ASCII
Value

Field Type

Binary
Value

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

Port to configure
(default = THISPORT)

1

SERIALCONFIG
Header

2

port

See Table 58, COM Port
Identifiers on page 273

Enum

4

H

3

bps/baud

300, 600, 900, 1200,
2400, 4800, 9600, 19200,
38400, 57600, 115200,
Communication baud rate (bps). Ulong
230400, 460800 and
921600

4

H+4

4

parity

See Table 59, Parity on
page 273

Parity

Enum

4

H+8

5

databits

7 or 8

Number of data bits
(default = 8)

Ulong

4

H+12

6

stopbits

1 or 2

Number of stop bits
(default = 1)

Ulong

4

H+16

7

handshakea

See Table 60,
Handshaking
Handshaking on page 273

Enum

4

H+20

8

break

Enum

4

H+24

-

OFF

0

Disable break detection

ON

1

Enable break detection (default)

a. On the OEM615 and OEM628, The AUX and COM3 ports do not support hardware handshaking. Only transmit and
receive lines exist for these ports.

OEM6 Firmware Reference Manual Rev 12

272

Commands

Chapter 2
Table 58: COM Port Identifiers
Binary

ASCII

Description

Applicable Card

1

COM1

COM port 1

OM615, OEM628, OM638

2

COM2

COM port 2

OM615, OEM628, OM638

3

COM3

COM port 3

OM615, OEM628, OM638

6

THISPORT

The current COM port

OM615, OEM628, OM638

7

FILE

For logging to a file

OEM638

8

ALL

All COM ports

OM615, OEM628, OM638

19

COM4

COM port 4

OEM638

21

IMU

IMU COM port

dependent on hardware configuration

31

COM5

COM port 5

OEM638

32

COM6

COM port 6

OEM638

33

BT1

Bluetooth COM port

dependent on hardware configuration

34

COM7

COM port 7

ProPak6 only via expansion cable

35

COM8

COM port 8

ProPak6 only via expansion cable

36

COM9

COM port 9

ProPak6 only via expansion cable

37

COM10

COM port 10

ProPak6 only via expansion cable

Table 59: Parity
Binary

ASCII

Description

0

N

No parity (default)

1

E

Even parity

2

O

Odd parity

Table 60: Handshaking
Binary

ASCII

0

N

1

XON

XON/XOFF software handshaking

2

CTS

CTS/RTS hardware handshaking

OEM6 Firmware Reference Manual Rev 12

Description
No handshaking (default)

273

Commands

Chapter 2

2.4.132 SERIALPROTOCOL
Sets the protocol to be used by a serial port
OEM Platform:

628, 638, FlexPak6, ProPak6

On some OEM6 receiver cards, selected ports can support either RS-232 or RS-422 signaling protocol. The
default protocol is RS-232. The SERIALPROTOCOL command is used to select the protocol (RS-232 or
RS-422) supported on the port.
In some cases, the protocol used on a serial port can also be selected at boot time by pulling a
USER_IO line high or low, as appropriate. See the OEM6 Family Installation and Operation
User Manual (OM-20000128) for more information
The SERIALPROTOCOL command can be used to override the protocol selected at boot time.

On the OEM615, there are no COM ports that support the RS-422 protocol.

Message ID:

1444

Abbreviated ASCII Syntax:
SERIALPROTOCOL port protocol
ASCII Example:
SERIALPROTOCOL COM2 RS422
Field

1

ASCII
Value

Field Type
SERIAL
PROTOCOL header

2

port

3

protocol

Binary
Value

Description

Format

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

See Table 61, Ports
Supporting RS-422
on page 274

Select the COM port on which the
protocol is being set.
The port that can be entered depends on
the hardware platform being used.

RS232

0

Set the port to use RS-232 protocol

RS422

1

Set the port to use RS-422 protocol

Binary Binary
Bytes Offset

H

0

Enum

4

H

Enum

4

H+4

Table 61: Ports Supporting RS-422
OEM6 Receiver Type

Allowable Ports

Binary Value

OEM615, 617, 617D, FlexPak6D

None

OEM628, FlexPak6

COM1

1

COM1

1

COM2

2

COM6

6

OEM638, ProPak6

OEM6 Firmware Reference Manual Rev 12

274

Commands

Chapter 2

2.4.133 SETADMINPASSWORD
Sets the administration password
OEM Platform:

628, 638, FlexPak6, ProPak6

This command sets the administration password used to log into various web services.
•

The administration password is required for FTP access (no guest access).

The default password is the receiver‘s PSN. This password should be changed before connecting the
receiver to a network.
Message ID:

1579

Abbreviated ASCII Syntax:
SETADMINPASSWORD oldpassword newpassword
Input example
SETADMINPASSWORD ABC123 XYZ789

Field

ASCII
Value

Field Type

Binary
Value

Description

Format

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.

-

Binary
Bytes

Binary
Offset

1

SETADMINPASS
WORD header

2

OldPassword

Maximum 28
character string

Previous password.

String [28] variablea H

3

NewPassword

Maximum 28
character string

New password.

String [28] variablea variable

-

H

0

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

This password can be restored to default (the receiver‘s PSN) by issuing the FRESET
USER_ACCOUNTS command (see page 157).

OEM6 Firmware Reference Manual Rev 12

275

Commands

Chapter 2

2.4.134 SETAPPROXPOS
Sets an approximate position
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets an approximate latitude, longitude and height in the receiver. Estimating these
parameters, when used in conjunction with an approximate time (see the SETAPPROXTIME command on
page 277), can improve satellite acquisition times and Time To First Fix (TTFF). For more information about
TTFF and Satellite Acquisition, refer to our book An Introduction to GNSS, available on our website at
www.novatel.com/support/.
The horizontal position entered should be within 200 km of the actual receiver position. The approximate
height is not critical and can normally be entered as zero. If the receiver cannot calculate a valid position
within 2.5 minutes of entering an approximate position, the approximate position is ignored.
The approximate position is not visible in any position logs. It can be seen by issuing a SETAPPROXPOS
log. See also the SATVIS log on page 653.
Message ID:

377

Abbreviated ASCII Syntax:
SETAPPROXPOS lat lon height
Input Example:
SETAPPROXPOS 51.116 -114.038 0
For an example on the use of this command, refer to the SETAPPROXTIME command on
page 277.

Field

ASCII
Value

Field Type

Binary
Value

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Description

1

SETAPPROXPOS
header

2

Lat

± 90 degrees

Approximate latitude

Double

8

H

3

Lon

± 180 degrees

Approximate longitude

Double

8

H+8

4

Height

-1000 to +20000000 m Approximate height

Double

8

H+16

-

OEM6 Firmware Reference Manual Rev 12

276

Commands

Chapter 2

2.4.135 SETAPPROXTIME
Sets an approximate GPS reference time
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets an approximate time in the receiver. The receiver uses this time as system time until a
coarse time can be acquired. This can be used in conjunction with an approximate position (see the
SETAPPROXPOS command on page 276) to improve Time To First Fix (TTFF). For more information TTFF
and Satellite Acquisition, refer to our book An Introduction to GNSS, available on our website at
www.novatel.com/support/.
The time entered should be within 10 minutes of the actual GPS reference time. If the week number entered
does not match the broadcast week number, the receiver resets once it is tracking.
Message ID:

102

Abbreviated ASCII Syntax:
SETAPPROXTIME week sec
Input Example:
SETAPPROXTIME 1605 425384
Upon power up, the receiver does not know its position or time and therefore cannot use
almanac information to aid satellite acquisition. You can set an approximate GPS reference time
using the SETAPPROXPOS command (see page 276).
Approximate time and position may be used in conjunction with a current almanac to aid satellite
acquisition. See the table below for a summary of the OEM6 family commands used to inject an
approximated time or position into the receiver:
Approximate

Command

Time

SETAPPROXTIME

Position

SETAPPROXPOS

Base station aiding can help in these environments. A set of ephemerides can be injected into a
rover station by broadcasting the RTCAEPHEM message from a base station. This is also useful
in environments where there is frequent loss of lock. GPS ephemeris is three frames long within
a sequence of five frames. Each frame requires 6 s of continuous lock to collect the ephemeris
data. This gives a minimum of 18 s and a maximum of 36 s continuous lock time or when no
recent ephemerides (new or stored) are available. See also the SATVIS log on page 653.

Field

Field Type

ASCII
Value

Binary
Value

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

H

0

Ulong

4

H

8

H+4

Description

1

SETAPPROXTIME
header

2

week

0-9999

GPS reference week number

3

sec

0-604800

Number of seconds into GPS reference
Double
week

-

OEM6 Firmware Reference Manual Rev 12

277

Commands

Chapter 2

2.4.136 SETBASERECEIVERTYPE
Sets base receiver type
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command allows the user to specify the base receiver type to aid GLONASS ambiguity fixing in RTK. It
can be used as a substitute for RTCM1033 messages that contains the information on the base receiver
type. This command should be issued to the Rover. Using this allows the Rover receiver to fix the GLONASS
ambiguities when using RTCM2.X and CMR corrections as well.
An incorrect base type setting can significantly impair ambiguity resolution.

Message ID:

1374

Abbreviated ASCII Syntax:
SETBASERECEIVERTYPE base_type
Factory Default:
SETBASERECEIVERTYPE unknown
ASCII Example:
SETBASERECEIVERTYPE novatel

Field

1

2

ASCII
Value

Field Type

SBASERECEIVER
TYPE header

base_type

Binary
Value

Description

-

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.

unknown

0

Unknown Base

novatel

1

NovAtel Base

trimble

2

Trimble Base

topcon

3

Topcon Base

magellan

4

Magellan Base

leica

5

Leica Base

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

-Enum

4

H

278

Commands

Chapter 2

2.4.137 SETBESTPOSCRITERIA
Sets selection criteria for BESTPOS
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to set the criteria for the BESTPOS log and choose between 2D and 3D standard
deviation to obtain the best position from the BESTPOS log. It also allows you to specify the number of
seconds to wait before changing the position type. This delay provides a single transition that ensures
position types do not skip back and forth. See also the BESTPOS log on page 393.
The SETBESTPOSCRITERIA command is also used as the basis for the UALCONTROL
command (see page 319) standard deviations.
Message ID:

839

Abbreviated ASCII Syntax:
SETBESTPOSCRITERIA type [delay]
Factory Default:
SETBESTPOSCRITERIA pos3d 0
Input Example:
SETBESTPOSCRITERIA pos2d 5

Field

ASCII
Value

Field Type

Binary
Value

Description
This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Format

Binary Binary
Bytes Offset

-

H

0

1

SETBESTPOS
CRITERIA
header

-

2

type

See Table 62,
Selection Type

Select a 2D or 3D standard deviation
type to obtain the best position from the Enum
BESTPOS log

4

H

3

delay

0 to 100 s

Set the number of seconds to wait
before changing the position type.
Default=0

4

H+4

-

Ulong

Table 62: Selection Type
ASCII

Binary

Description

POS3D

0

3D standard deviation

POS2D

1

2D standard deviation

OEM6 Firmware Reference Manual Rev 12

279

Commands

Chapter 2

2.4.138 SETCANNAME
Sets the CAN name fields
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, ProPak6

This commands sets the CAN device name fields.
Message ID:

1091

Abbreviated ASCII Syntax:
SETCANNAME ManufacturerCode [IndustryGroup] [DeviceClass]
[DeviceClassInstance] [Function] [functioninstance] [ECUInstance]
[PreferredAddress]
Input Example:
SETCANNAME 305

Field

1

Field Type

SETCANNAME
header

ASCII Binary
Value Value

-

-

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Binary Binary
Bytes Offset

H

0

CAN module's Manufacturer Code
2

ManufacturerCode

Set the manufacturer code for the
Ulong
messages output by NovAtel devices to
305.

4

H

3

IndustryGroup

Industry group number (default = 2)

Ulong

4

H+4

4

DeviceClass

11783-5 Device class (default = 0)

Ulong

4

H+8

5

DeviceClassInstance

11783-5 Device class instance
(default = 0)

Ulong

4

H+12

6

Function

11783-5 Function (default = 23)

Ulong

4

H+16

7

FunctionInstance

11783-5 Function instance (default = 0) Ulong

4

H+20

8

ECUInstance

11783-5 ECU Instance (default = 0)

Ulong

4

H+24

9

PreferredAddress

Device default address on start up
(default=28)

Ulong

4

H+28

10

Reserved

Ulong

4

H+32

OEM6 Firmware Reference Manual Rev 12

280

Commands

Chapter 2

2.4.139 SETDIFFCODEBIASES
Sets satellite differential code biases
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Changing the biases may negatively affect positioning accuracy. NovAtel recommends that only
advanced users modify the biases.
Use this command to set the differential code biases that correct pseudorange errors affecting the L1/L2
ionospheric corrections. Bias values are restricted to between -10 ns and +10 ns. A set of biases is included
in the firmware and use of the biases is enabled by default. See also the DIFFCODEBIASCONTROL command
on page 123.
The receiver uses the C/A code on L1 and the P code on L2 to calculate a dual-frequency ionospheric
correction. However, the GNSS clock corrections are broadcast as if the P codes on both L1 and L2 are used
to calculate this correction. The biases account for the differences between the P and C/A codes on L1 and
improve the estimate of the ionospheric correction.
The biases are calculated by the International GNSS Service (IGS). Calculation details, analysis and results
are available at http://aiuws.unibe.ch/spec/dcb.php. The most recent 30 day average bias values can be
downloaded from ftp://ftp.unibe.ch/aiub/CODE/P1C1.DCB.
Message ID:

687

Abbreviated ASCII Syntax:
SETDIFFCODEBIASES bias_type biases

Field

1

2

Field Type

ASCII Value

SETDIFFCODE
BIASES
header

bias_type

Binary
Value

-

GPS_C1P1
(default)

0

GPS_C2P2

1

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

H

0

Code pair to which biases refer

Enum

4

H

Array of 40 biases (ns)

Float[40] 160

GLONASS_C1P1 2
3

biases

-10 to +10 ns

OEM6 Firmware Reference Manual Rev 12

H+4

281

Commands

Chapter 2

2.4.140 SETFILECOPYMODE
Configures the internal memory copy function
OEM Platform:

638, ProPak6

The SETFILECOPYMODE command is used to copy all recorded log files from internal memory to a USB stick
when it's inserted provided the USB stick is big enough to hold all the data. Files too large to fit in the
remaining space on the USB stick are skipped. Files that exist on the USB stick with the same filename are
also skipped since that's the default file copy option. The command must be issued before the stick is
inserted (otherwise the USB stick must be removed and reinserted to trigger the auto copy). This command
has nothing to do with the manual copy procedure (DOSCMD COPY).
Message ID:

1581

Abbreviated ASCII Syntax:
SETFILECOPYMODE [FileCopyModeEnum] [FileCopyOptionsEnum]
Factory Default:
SETFILECOPYMODE manual
ASCII Example:
SETFILECOPYMODE AUTO_ALL
The SETFILECOPYMODE command configures how the receiver copies files from internal
memory to a USB stick. The SETFILECOPYMODE command must be issued prior to inserting
the USB stick to trigger auto-copy. When auto copying files, there must be enough space
available on the USB stick to hold the files. Files that won’t fit are skipped and therefore are not
copied to the USB stick.

Field

1

Field Type

ASCII Value

SETFILECOPYMODE
header

OEM6 Firmware Reference Manual Rev 12

Binary
Value

Description
This field contains the
command name or the
message header
depending on whether the
command is abbreviated
ASCII, ASCII or binary,
respectively

Format

Binary Binary
Bytes Offset

-

H

0

282

Commands

Field

2

3

Chapter 2

Field Type

ASCII Value

Binary
Value

MANUAL
(default)

1

Manual copy using the
DOSCMD COPY function

AUTO_ALL

2

Automatically copies all
files

Format

AUTO_ALL_DEL
3
ETE

Automatically copies all
files and deletes them from
internal memory on
successful copy

AUTO-NEWEST 4

Enum
Automatically copies all
new files, skipping files that
were previously autocopied

AUTO_NEWEST
5
_DELETE

Automatically copies all
new files and deletes them
from internal memory on
successful copy. Files that
were previously autocopied are skipped

SKIP (default)

1

Skip files with name
collisions

OVERWRITE

2

Overwrite files with name
collisions

RENAME

3

Rename files with name
collisions. A suffix is added
to the original filename
consisting of an underscore Enum
and the first unused
number starting from 1 (eg:
SomeFileName.dat
becomes
SomeFileName_1.dat)

FORMAT

4

Formats the USB stick on
insertion so it's empty
before copying starts

FileCopyModeEnum

FileCopyOptionsEnum

Description

Binary Binary
Bytes Offset

4

H

4

H+4

Use caution if FORMAT option is selected as formatting automatically begins as soon as the
USB stick is inserted. No prompt that formatting is beginning is given.

OEM6 Firmware Reference Manual Rev 12

283

Commands

Chapter 2

2.4.141 SETIONOTYPE
Enables ionospheric models
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to set which ionospheric corrections model the receiver should use. If the selected model
is not available, the receiver reverts to AUTO.
L1 only models automatically use SBAS ionospheric grid corrections, if available.

Message ID:

711

Abbreviated ASCII Syntax:
SETIONOTYPE model
Factory Default:
SETIONOTYPE auto
ASCII Example:
SETIONOTYPE Klobuchar
An ionotype of AUTO is recommended for PDP and GLIDE.

Binary
Value

Field Field Type ASCII Value

1

SETIONOTYPE

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

header

2

model

Description

Format

-

See Table 63, Ionospheric Choose an ionospheric corrections
Enum
Correction Models
model

Binary Binary
Bytes Offset

H

0

4

H

Table 63: Ionospheric Correction Models
ASCII

Binary

Description

NONE

0

Don’t use ionosphere modeling

KLOBUCHAR

1

Use the Klobuchar model broadcast by GPS

GRID

2

Use the SBAS grid model

L1L2

3

Use the L1/L2 model

AUTO

4

Automatically determine the ionospheric model to use

OEM6 Firmware Reference Manual Rev 12

284

Commands

Chapter 2

2.4.142 SETNAV
Sets start and destination waypoints
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command permits entry of one set of navigation waypoints (see Figure 9, Illustration of SETNAV
Parameters). The origin (from) and destination (to) waypoint coordinates entered are considered on the
ellipsoidal surface of the current datum (default wgs84). Once SETNAV has been set, monitor the navigation
calculations and progress by observing the NAVIGATE log messages (page 531).
Track offset is the perpendicular distance from the great circle line drawn between the from lat-lon and to
lat-lon waypoints. It establishes the desired navigation path or track, that runs parallel to the great circle line,
which now becomes the offset track, and is set by entering the track offset value in metres. A negative track
offset value indicates that the offset track is to the left of the great circle line track. A positive track offset value
(no sign required) indicates the offset track is to the right of the great circle line track (looking from origin to
destination). See Figure 9, Illustration of SETNAV Parameters for clarification.
Message ID:

162

Abbreviated ASCII Syntax:
SETNAV fromlat fromlon tolat tolon trackoffset from-point to-point
Factory Default:
SETNAV 90.0 0.0 90.0 0.0 0.0 from to
ASCII Example:
SETNAV 51.1516 -114.16263 51.16263 -114.1516 -125.23 FROM TO
Figure 9: Illustration of SETNAV Parameters

X

TO lat-lon
Tr ack
offset

FROM lat-lon

Consider the case of setting waypoints in a deformation survey along a dam. The surveyor
enters the From and To point locations, on either side of the dam using the SETNAV command.
They then use the NAVIGATE log messages to record progress and show where they are in
relation to the From and To points.

OEM6 Firmware Reference Manual Rev 12

285

Commands

Field Field Type

1

2

SETNAV
header

fromlat

Chapter 2
ASCII Binary
Value Value

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII, ASCII or
binary, respectively

H

0

± 90 degrees

Origin latitude in units of degrees/decimal
degrees.
Double
A negative sign for South latitude. No sign for
North latitude

8

H

Double

8

H+8

-

-

3

fromlon

± 180 degrees

Origin longitude in units of degrees/decimal
degrees.
A negative sign for West longitude. No sign
for East longitude

4

tolat

± 90 degrees

Destination latitude in units of degrees/
decimal degrees

Double

8

H+16

5

tolon

± 180 degrees

Destination longitude in units of degrees/
decimal degrees

Double

8

H+24

8

H+32

6

trackoffset

± 1000 km

Waypoint great circle line offset (in metres)
establishes offset track. Positive indicates
Double
right of great circle line and negative indicates
left of great circle line

7

from-point

5 characters
maximum

ASCII origin station name

String
a H+40
[max 5] Variable

8

to-point

5 characters
maximum

ASCII destination station name

String
a Variable
[max 5] Variable

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

286

Commands

Chapter 2

2.4.143 SETPREFERREDNETIF
Set the Network Interfaces for DNS and Default Gateway Configuration
OEM Platform:

ProPak6

This command sets the preferred network interface. The preferred interface is used to obtain the default
gateway and DNS server network configuration for the receiver.
The commands to configure the gateway and DNS server settings apply to specific interfaces. IPCONFIG
and DNSCONFIG configure the Ethernet interface (ETHA), WIFICLICONFIG configures the Wi-Fi interface,
and CELLULARCONFIG configures the cellular modem interface (CELL).
The gateway and DNS configuration set for the preferred interface can be static or DHCP. If an interface is
configured to use DHCP, then the receiver will use the default gateway and DNS server received from DHCP
only when received on the preferred interface.
Message ID:

1688

Abbreviated ASCII Syntax:
SETPREFERREDNETIF [NetIfPreferredInterfaceMode] PrimaryNetIf
[SecondaryNetIf] [TertiaryNetIf] [QuaternaryNetIf] [QuinaryNetIf]
[SenaryNetIf] [SeptenaryNetIf] [OctonaryNetIf] [NonaryNetIf] [DenaryNetIf]
When entering the SETPREFERREDNETIF command in ASCII, only the PrimaryNetIf field is
required. See the ASCII example below.
When entering the SETPREFERREDNETIF command in binary, all of the fields must be entered.
However, all fields other than PrimaryNetIf must be set to zero.
Factory Default:
SETPREFERREDNETIF etha
ASCII Example:
SETPREFERREDNETIF CELL
Field

Field Type

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Not required 0

Preferred interface selection
behavior

Enum

4

H

ETHA

2

Set ETHA as the primary network
interface

WIFI

10

Set Wi-Fi as the primary network
interface

Enum

4

H+4

CELL

20

Set the cellular modem as the
primary network interface

ASCII Value

1

SETPREFERRED
NETIF header

2

NetIfPreferred
InterfaceMode

3

PrimaryNetIf

Binary
Value

-

OEM6 Firmware Reference Manual Rev 12

Description

287

Commands

Field

Chapter 2

Field Type

ASCII Value

Binary
Value

Description

Format

Binary Binary
Bytes Offset

4

SecondaryNetIf

Not required 0

Secondary network interface

Enum

4

H+8

5

TertiaryNetIf

Not required 0

Tertiary network interface

Enum

4

H+12

6

QuaternaryNetIf

Not required 0

Quaternary network interface

Enum

4

H+16

7

QuinaryNetIf

Not required 0

Quinary network interface

Enum

4

H+20

8

SenaryNetIf

Not required 0

Senary network interface

Enum

4

H+24

9

SeptenaryNetIf]

Not required 0

Septenary network interface

Enum

4

H+28

10

OctonaryNetIf

Not required 0

Octonary network interface

Enum

4

H+32

11

NonaryNetIf

Not required 0

Nonary network interface

Enum

4

H+36

12

DenaryNetIf

Not required 0

Denary network interface

Enum

4

H+40

OEM6 Firmware Reference Manual Rev 12

288

Commands

Chapter 2

2.4.144 SETROVERID
Set ID for ALIGN rovers
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the Rover ID output in ROVERPOS, HEADING2, ALIGNBSLNXYZ and
ALIGNBSLNENU logs.
The default value for the ID is set using the last six characters of the receiver PSN Number. For example, if
the receiver PSN number is DAB07170027, ID is set as R027, i.e., 17 is represented as R and last three
characters are filled in as is. The fourth last character is ignored.
It is not guaranteed that each receiver will have a unique auto-generated ID. Use this command
to set the ID in case the auto-generated ID overlaps with other rovers. It is the user’s
responsibility to ensure each receiver ID is unique (if they own multiple receivers). If the ID
overlaps, use this command to set the ID.
Message ID:

1135

Abbreviated ASCII Syntax:
SETROVERID rovid
Factory Default:
If the receiver PSN is: DAB07170027
SETROVERID R027
Input Example
SETROVERID rov1

Field

ASCII
Value

Field Type

1

SETROVERID
header

2

ID

Binary
Value

-

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

4 Character String ID String (maximum 4 characters plus
e.g., ROV1
NULL)

String[5]

Binary Binary
Bytes Offset

H

0

5a

H

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

289

Commands

Chapter 2

2.4.145 SETRTCM16
Enters ASCII text for RTCM data stream
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The RTCM type 16 message allows ASCII text to be transferred from a GNSS base station to rover GNSS
receivers. The SETRTCM16 command is used to define the ASCII text at the base station. The text defined by
the SETRTCM16 command can be verified in the RXCONFIG log. Once the ASCII text is defined it can be
broadcast periodically by the base station with the command "log  RTCM16 ONTIME ". The
received ASCII text can be displayed at the rover by logging RTCM16T (refer to the logs under
Section 3.2.130, RTCM Standard Logs on page 621).
This command limits the input message length to a maximum of 90 ASCII characters. If the message string
contains any delimiters (that is, spaces, commas, tabs and so on) the entire string must be contained in
double quotation marks.
Message ID:

131

Abbreviated ASCII Syntax:
SETRTCM16 text
Input Example:
SETRTCM16 “Base station will shut down in 1 hour”

Field

ASCII
Value

Field Type

1

SETRTCM16
header

2

text

Binary
Value

-

Maximum 90
character string

Description

Format

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively
The text string

String
[max 90]

Binary
Bytes

H

Binary
Offset

0

Variablea H

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

290

Commands

Chapter 2

2.4.146 SETRTCM36
Enters ASCII text with Russian characters
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The RTCM Type 36 message is the GLONASS equivalent of the RTCM Type 16 message except that the
RTCM36 message can contain characters from an extended character set including Russian characters.
Table 64, Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex) on page 292 provides
the standard decimal and hex codes to use when transmitting Cyrillic characters to provide Russian language
messages. Codes from 0 to 127 correspond to standard ASCII codes.
To support the 8-bit character data in the ASCII version, 8-bit characters are represented as \xnn (or \dnnn)
which are the hexadecimal (or decimal) values of the characters. A "\" is represented as "\\".
In the RTCM36T log, the ASCII output displays the 8-bit characters in the decimal \dnnn representation.
However, in the SETRTCM36 command, you can enter the 8-bit characters using the \x or \d prefix.
This command limits the input message length to a maximum of 90 ASCII characters. If the
message string contains any delimiters (that is, spaces, commas, tabs, and so on) the entire
string must be contained in double quotation marks.
Message ID:

880

Abbreviated ASCII Syntax:
SETRTCM36 extdtext
Input Example:
To set the message “QUICK
understanding):

”, enter any of the following commands (color added to aid

SETRTCM36 “QUICK \d166\d146\d174\d144\d140”
SETRTCM36 “QUICK \xa6\x92\xae\x90\x8c ”
SETRTCM36 “\x51\x55\x49\x43\x4b\x20 \xa6\x92\xae\x90\x8c ”
SETRTCM36 “\x51\x55\x49\x43\x4b \xa6\x92\xae\x90\x8c ”
Similarly, the corresponding RTCM36T message, see page 621, looks like:
#RTCM36TA,COM1,0,77.5,FINESTEERING,1399,237244.454,00000000,2e54,35359;
"QUICK \d166\d146\d174\d144\d140"*4aa7f340
Similar to the RTCM Type 16 message, the SETRTCM36 command is used to define the ASCII
text at the base station and can be verified in the RXCONFIG log. Once the ASCII text is
defined it can be broadcast periodically by the base station with the command, for example
"log< port> RTCM36 ONTIME 10". The received ASCII text can be displayed at the rover by
logging RTCM36T.

OEM6 Firmware Reference Manual Rev 12

291

Commands

Field

Chapter 2

ASCII
Value

Field Type

1

SETRTCM36
header

2

extdtext

Binary
Value

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

Maximum 90
character string

H

String
[max 90]

The RTCM36 text string

Binary
Bytes

Binary
Offset

0

Variablea H

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

Table 64: Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex)
Hex
Code

Dec
Code

Ch

Hex
Code

Dec
Code

Ch

Hex
Code

Dec
Code

Ch

Hex
Code

Dec
Code

Ch

80

128

А

90

144

Р

A0

160

а

B0

176

р

81

129

Б

91

145

С

A1

161

б

B1

177

с

82

130

В

92

146

Т

A2

162

в

B2

178

т

83

131

Г

93

147

У

A3

163

г

B3

179

у

84

132

Д

94

148

Ф

A4

164

д

B4

180

ф

85

133

Е

95

149

Х

A5

165

е

B5

181

х

86

134

Ж

96

150

Ц

A6

166

ж

B6

182

ц

87

135

З

97

151

Ч

A7

167

з

B7

183

ч

88

136

И

98

152

Ш

A8

168

и

B8

184

ш

89

137

Й

99

153

Щ

A9

169

й

B9

185

щ

8A

138

К

9A

154

Ъ

AA

170

к

BA

186

ъ

8B

139

Л

9B

155

Ы

AB

171

л

BB

187

ы

8C

140

М

9C

156

Ь

AC

172

м

BC

188

ь

8D

141

Н

9D

157

Э

AD

173

н

BD

189

э

8E

142

О

9E

158

Ю

AE

174

о

BE

190

ю

8F

143

П

9F

159

Я

AF

175

п

BF

191

я

OEM6 Firmware Reference Manual Rev 12

292

Commands

Chapter 2

2.4.147 SETRTCMRXVERSION
Sets the RTCM message standard
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets RTCM corrections to RTCM 2.2 or 2.3 message standards.
For RTCM correction message types, see Table 42, Serial Port Interface Modes on page 178.

Message ID:

1216

Abbreviated ASCII Syntax:
SETRTCMRXVERSION version
Factory Default:
SETRTCMRXVERSION v23
Input Example:
SETRTCMRXVERSION V23

Field

Field Type

ASCII
Value

Binary
Value

Description

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

v23

0

RTCM version 2.3

v22

1

RTCM version 2.2

1

SETRTCMRXVERSION
header

2

version

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

293

Commands

Chapter 2

2.4.148 SETRTCMTXVERSION
Sets the RTCM transmission standard
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets RTCM corrections to RTCM 2.2 or 2.3 transmission standards.
For RTCM correction message types, see Table 42, Serial Port Interface Modes on page 178.

Message ID:

1322

Abbreviated ASCII Syntax:
SETRTCMTXVERSION version
Factory Default:
SETRTCMTXVERSION v23
Input Example:
SETRTCMTXVERSION V23

Field

Field Type

ASCII Binary
Value Value

Description

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

v23

0

RTCM version 2.3

v22

1

RTCM version 2.2

1

SETRTCMTXVERSION
header

2

version

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

0

294

Commands

Chapter 2

2.4.149 SETTIMEBASE
Sets primary and backup systems for time base
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command configures the primary and backup steering system(s) for timing. The primary system is the
system that the receiver steers the clock to. Upon startup, the primary system must be present long enough
to steer the clock to be valid once, otherwise, the backup system cannot be used. The backup system is used
whenever the primary system is not present.
Message ID:

1237

Abbreviated ASCII Syntax:
SETTIMEBASE primarysystem numbackups[system[timeout]]
Factory Default:
For GLONASS only receiver:
SETTIMEBASE Glonass 0
For GPS capable receiver:
SETTIMEBASE GPS 1 AUTO 0
For BeiDou only receiver:
SETTIMEBASE beidou 0
Input Example:
SETTIMEBASE gps 1 glonass 30

Field

ASCII
Value

Field Type

Binary
Value

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

Format

Binary Binary
Bytes Offset

-

H

0

1

SETTIMEBASE
header

2

primarysystem

Table 65, System Used
for Timing on page 296

The primary system for steering the
Enum
receiver clock

4

H

3

numbackups

0 or 1

The number of records to follow

Ulong

4

H+4

4

systema

Table 65, System Used
for Timing on page 296

The system to be used for backup Enum

4

H+8

5

timeouta

0 to +4294967295
(seconds)

Duration that the backup system is
used to steer the clock. 0 means
Ulong
ongoing

4

H+12

-

a. Fields can repeat.

OEM6 Firmware Reference Manual Rev 12

295

Commands

Chapter 2
Table 65: System Used for Timing
Binary

ASCII

0

GPS

1

GLONASS

2

GALILEO

3

BEIDOU

99

AUTOa

a. AUTO is used only as a backup system
(not available for primary system field).

OEM6 Firmware Reference Manual Rev 12

296

Commands

Chapter 2

2.4.150 SETTROPOMODEL
Sets Troposphere model
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the troposphere model used to correct ranges used in the PSRPOS and PDPPOS
solutions.
Message ID:

1434

Abbreviate ASCII Syntax:
SETTROPOMODEL model
Factory Default:
SETTROPOMODEL auto
Input Example:
SETTROPOMODEL none
Disabling the troposphere model may negatively affect positioning accuracy. NovAtel
recommends that only advanced users modify this setting.

Field

1

2

ASCII
Value

Field Type

SETTROPOMODEL
header

Binary
Value

Description

-

-

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

NONE

1

Do not apply any troposphere
corrections

2

Automatically use an appropriate
model

model
AUTO

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

-

H

0

Enum

4

H

297

Commands

Chapter 2

2.4.151 SETUTCLEAPSECONDS
Sets future leap seconds
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command allows the user to force the UTC offset to be updated according to the input date.
Leap seconds will occur at the end of the UTC day specified. The receiver will use the leap second set by this
command until a leap second can be obtained over the air.
Message ID:

1150

Abbreviated ASCII Syntax:
SETUTCLEAPSECONDS seconds [futureweeknumber [futuredaynumber
[futureseconds]]]
Factory Default:
SETUTCLEAPSECONDS 16 1694 7 16
Input Example:
SETUTCLEAPSECONDS 17 1823 7 16

Field

Field Type

ASCII Binary
Value Value

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

-

H

0

Description

1

SETUTCLEAPSECONDS
header

2

Secondsa

0-

Current UTC leap second

Ulong

4

H

3

Futureweeknumber

0-10000

GPS Week when future leap
seconds will take effect
(default = 1694)

Ulong

4

H+4

4

Futuredaynumber

1-7

Day of the week when future leap
seconds will take effect
(default = 7)

Ulong

4

H+8

0-

Future leap second offset that will
take effect at the end of the
futuredaynumber of the
futureweeknumber
(default = 16)

Ulong

4

H+12

5

a.

Futureseconds

-

This value will only be applied if the UTC status in the TIME log is not Valid.

OEM6 Firmware Reference Manual Rev 12

298

Commands

Chapter 2

2.4.152 SOFTLOADCOMMIT
Completes the SoftLoad process
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command completes the SoftLoad process by verifying the downloaded image and activating it. Refer to
The OEM6 Installation and Operation Manual (OM-20000128) for more information about the SoftLoad
process.
This command can only be sent to the receiver when the SOFTLOADSTATUS log reports
READY_FOR_DATA.
After issuing the SOFTLOADCOMMIT command the user must wait for the OK or ERROR command response
before proceeding. This response is guaranteed to be output from the receiver within 300 seconds from the
time the command was received by the receiver. If an error response is returned, consult the
SOFTLOADSTATUS log on page 705 for more detail.
Message ID:

475

Abbreviated ASCII Syntax:
SOFTLOADCOMMIT
Input Example:
SOFTLOADCOMMIT

Field

ASCII
Value

Field Type

1

SOFTLOADCOMMIT
header

2

Reserved

Binary
Value

-

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or binary,
respectively

H

0

Reserved. Set to 1 in the binary case Enum

4

H

299

Commands

Chapter 2

2.4.153 SOFTLOADDATA
Sends firmware image data to the receiver for the SoftLoad process
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is only valid in binary mode.
This command is used to upload data to the receiver for the SoftLoad process. Refer to the OEM6 Installation
and Operation Manual (OM-20000128) for more information about the SoftLoad process.
After each SOFTLOADDATA command, the user must wait for the OK or ERROR command response before
proceeding. This response is guaranteed to be output from the receiver within 15 seconds from the time the
command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log
on page 705 for more detail.
This command can only be sent to the receiver once the SOFTLOADSREC or SOFTLOADSETUP commands
have sent the content of the S0 records from the start of a firmware *.hex or *.shex file. In these cases, the
SOFTLOADSTATUS log reports READY_FOR_SETUP or READY_FOR_DATA.
Message ID:

1218

Abbreviated ASCII Syntax:
Not applicable

Field

Field Type

Binary
Value

Description

Format

Binary Binary
Bytes Offset

1

SOFTLOADDATA
header

NovAtel binary message header

-

H

0

2

offset

-

Offset of the data within the downloaded image

Ulong

4

H

3

data length

-

Number of bytes of data. This must match the
number of bytes contained within the “data” field

Ulong

4

H+4

4

data

-

Incoming data up to a maximum of 4096 bytes

Uchar

4096

H+8

OEM6 Firmware Reference Manual Rev 12

300

Commands

Chapter 2

2.4.154 SOFTLOADFILE
Updates the receiver firmware using a *.hex or *.shex file that has been uploaded
to the receiver
OEM Platform:

638, ProPak6

Use this command to update receiver firmware using the file devices of the receiver.
If the Storage device is USBSTICK, copy the firmware .hex file to the USB stick before
connecting the stick to the OEM638.
If the Storage device is the INTERNALFLASH, use the FTP server to upload the firmware .hex
file to the internal flash (eMMC) data logging device.
Message ID:

1302

Abbreviated ASCII Syntax:
SOFTLOADFILE Storage File [Dest]
Abbreviated ASCII Example:
SOFTLOADFILE USBSTICK zM6omap.hex

Field

Field Type

ASCII Value

1

SOFTLOAD
FILE header

2

storage

3

file

String

4

dest

Reserved

Binary
Value

-

-

USBSTICK

1

INTERNAL_FLASH 4

OEM6 Firmware Reference Manual Rev 12

0

Description

Format

Binary Binary
Bytes Offset

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary

H

0

The source device the on which
Enum
the file is stored.

4

H

The hex file to load. File names Char
have a 128 character limit
[128]

128

H+4

Reserved

4

variable

Enum

301

Commands

Chapter 2

2.4.155 SOFTLOADRESET
Initiates a new SoftLoad process
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command restarts the SoftLoad process. Refer to the OEM6 Installation and Operation Manual (OM2000128) for more information about the SoftLoad process.
The command does not affect the flash and does not reset the receiver.
The SOFTLOADRESET command can be issued at any time. If it is issued while a SoftLoad process is
currently in progress then that process is terminated and a new one is started. After the SOFTLOADRESET
command is processed the SOFTLOADSTATUS log will report a status of READY_FOR_SETUP.
After issuing the SOFTLOADRESET command the user must wait for the OK or ERROR command response
before proceeding. This response is guaranteed to be output from the receiver within 300 seconds from the
time the command was received by the receiver. If an error response is returned, consult the
SOFTLOADSTATUS log on page 705 for more detail.
Message ID:

476

Abbreviated ASCII Syntax:
SOFTLOADRESET
Input Example:
SOFTLOADRESET

Field

ASCII
Value

Field Type

1

SOFTLOADRESET
header

2

Reserved

-

Binary
Value

Description

Format

Binary Binary
Bytes Offset

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

-

Reserved. Set to 1 in the binary case

4

H

OEM6 Firmware Reference Manual Rev 12

Enum

302

Commands

Chapter 2

2.4.156 SOFTLOADSETUP
Sends configuration information to the receiver for the SoftLoad process
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The SOFTLOADSETUP command can be used in place of the SOFTLOADSREC command when sending S0
Records. This command is meant to be used if the user requires that the entire SoftLoad process be
performed in binary, but can also be used in ASCII or abbreviated ASCII. The examples below are given in
abbreviated ASCII for simplicity.
Refer to the OEM6 Installation and Operation Manual (OM-20000128) for more information about the
SoftLoad process.
This command can only be sent to the receiver when the SOFTLOADSTATUS log reports
READY_FOR_SETUP.
After each SOFTLOADSETUP command, the user must wait for the OK or ERROR command response before
proceeding. This response is guaranteed to be output from the receiver within 15 seconds from the time the
command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log
on page 705 for more detail.
NovAtel S0 records use the following format: S0~X~<>, where X is the Setup Type and <> is
a NULL terminated string. To convert from S0 record to the SOFTLOADSETUP command, convert the Setup
Type to the appropriate Setup type enumeration, as described in Table 64, and copy the <> string in
to the Setup data string.
Message ID:

1219

Abbreviated ASCII Syntax:
SOFTLOADSETUP setuptype setupdata
Input Example:
SOFTLOADSETUP datatype "APP"
Field

1

2

3

ASCII
Value

Field Type

Setup data

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name or
the message header depending on whether
the command is abbreviated ASCII, ASCII
or binary, respectively

H

0

See Table 66,
Available Set Up
Commands on
page 304

The type of setup command

4

H

-

ASCII setup data string. See Table 66,
Available Set Up Commands on page 304
for details on this data. This data can be
String
pulled from the S0 records of the hex file
being loaded onto the receiver. If the ASCII [512]
form of this command is used, this string
must be enclosed in double quotes (“ “)

SOFTLOAD
SETUP
header

Setup type

Binary
Value

-

-

Enum

variablea H+4

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

303

Commands

Chapter 2
Table 66: Available Set Up Commands

Binary

ASCII

Description

1

Platform

Comma separated list of platforms supported by the data to be uploaded. This
corresponds to S0~P~. For example, the S-Record
S0~P~OEM628,OEM628R,OEM615, translates to SOFTLOADSETUP PLATFORM
"OEM628,OEM628R,OEM615"

2

Version

Version of the data to be uploaded. This corresponds to S0~V~. For example, the SRecord S0~V~OMP060400RN0000, translates to SOFTLOADSETUP VERSION
"OMP060400RN0000"

3

Datatype

Intended data block for the data to be uploaded. This corresponds to S0~T~. For
example, the S-Record S0~T~APP, translates to SOFTLOADSETUP DATATYPE
"APP"

4

PSN and AUTH code for the data to be uploaded. The format is: PSN:AuthCode.Note
that since there are commas within the AuthCode, double quotes must surround the
Authcode PSN:AuthCode string. For example:
SOFTLOADSETUP AUTHCODE
"BFN10260115:T48JF2,W25DBM,JH46BJ,2WGHMJ,8JW5TW,G2SR0RCCR,101114"

OEM6 Firmware Reference Manual Rev 12

304

Commands

Chapter 2

2.4.157 SOFTLOADSREC
Sends an S-Record to the receiver for the SoftLoad process
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to send S-Records to the receiver for the SoftLoad process. Refer to the OEM6
Installation and Operation Manual (OM-20000128) for more information about the SoftLoad process.
After each SOFTLOADDATA command, the user must wait for the OK or ERROR command response before
proceeding. This response is guaranteed to be output from the receiver within 15 seconds from the time the
command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log
on page 705 for more detail.
This command can only be sent to the receiver when the SOFTLOADSTATUS log reports
READY_FOR_SETUP or READY_FOR_DATA.
Message ID:

477

Abbreviated ASCII Syntax:
SOFTLOADSREC s-record
Input Example:
SOFTLOADSREC “S30900283C10FAA9F000EF”

Field

ASCII
Value

Field Type

1

SOFTLOADSREC
header

2

SREC

-

3

Reserved

-

Binary
Value

-

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively
ASCII S-Record string to copy
from firmware *.hex or *.shex file

1

Reserved. Set to 1 in the binary
case

Binary
Bytes

Format

-

String
[515]
Ulong

H

Binary
Offset

0

variablea H
4

variable

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain
4Hbyte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next
4Hbyte alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

305

Commands

Chapter 2

2.4.158 SOFTPOWER
Shut down the receiver
OEM Platform:

ProPak6

Use the SOFTPOWER command to power off the receiver.
Before the receiver is shut down, the internal flash storage is unmounted to minimize the risk of losing data
being recorded to a log file.
Message ID:

213

Abbreviated ASCII Syntax:
SOFTPOWER PDC_Priority
Input Example:
SOFTPOWER NOW

Field

Field Type

1

SOFTPOWER
header

2

PDC_Priority

ASCII
Value

NOW

Binary
Value

1

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

Power off immediately

4

H

Enum

306

Commands

Chapter 2

2.4.159 STATUSCONFIG
Configures RXSTATUSEVENT mask fields
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to configure the various status mask fields in the RXSTATUSEVENT log (see
page 651). These masks can modify whether various status fields generate errors or event messages when
they are set or cleared.
Receiver Errors automatically generate event messages. These event messages are output in
RXSTATUSEVENT logs. It is also possible to have status conditions trigger event messages to be generated
by the receiver. This is done by setting/clearing the appropriate bits in the event set/clear masks. The set
mask tells the receiver to generate an event message when the bit becomes set. Likewise, the clear mask
causes messages to be generated when a bit is cleared. To disable all these messages without changing the
bits, simply UNLOG the RXSTATUSEVENT logs on the appropriate ports. Refer also to the Built in Status
Tests chapter in the OEM6 Installation and Operation Manual (OM-20000128).
Message ID:

95

Abbreviated ASCII Syntax:
STATUSCONFIG type word mask
Factory Default:
STATUSCONFIG PRIORITY STATUS 0
STATUSCONFIG PRIORITY AUX1 0x00000008
STATUSCONFIG PRIORITY AUX2 0
STATUSCONFIG SET STATUS 0x00000000
STATUSCONFIG SET AUX1 0
STATUSCONFIG SET AUX2 0
STATUSCONFIG CLEAR STATUS 0x00000000
STATUSCONFIG CLEAR AUX1 0
STATUSCONFIG CLEAR AUX2 0
ASCII Example:
STATUSCONFIG SET STATUS 0028A51D
The receiver gives the user the ability to determine the importance of the status bits. In the case
of the Receiver Status, setting a bit in the priority mask causes the condition to trigger an error.
This causes the receiver to idle all channels, set the ERROR strobe line, flash an error code on
the status LED, turn off the antenna (LNA power) and disable the RF hardware, the same as if a
bit in the Receiver Error word is set. Setting a bit in an Auxiliary Status priority mask causes that
condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status.

OEM6 Firmware Reference Manual Rev 12

307

Commands

Field

1

2

3

4

Chapter 2

ASCII
Value

Field Type

STATUSCONFIG
header

type

word

mask

Binary
Value

-

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

PRIORITY 0

Replace the Priority mask

SET

1

Replace the Set mask

CLEAR

2

Replace the Clear mask

STATUS

1

Receiver Status word

AUX1

2

Auxiliary 1 Status word

AUX2

3

Auxiliary 2 Status word

AUX3

4

Auxiliary 3 Status word

8 digit hexadecimal The hexadecimal bit mask

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

H

0

Enum

4

H

Enum

4

H+4

Ulong

4

H+8

308

Commands

Chapter 2

2.4.160 STEADYLINE
Configures position mode matching
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The STEADYLINE functionality helps mitigate the discontinuities that often occur when a GNSS receiver
changes positioning modes. The effect is especially evident when a receiver transitions from an RTK position
mode solution to a lower accuracy “fall back” solution, such as DGPS, WAAS+GLIDE or even autonomous
GLIDE. Smooth transitions are particularly important for agricultural steering applications where sudden
jumps may be problematic.
The STEADYLINE internally monitors the position offsets between all the positioning modes present in the
receiver. When the receiver experiences a position transition, the corresponding offset is applied to the
output position to limit a potential real position jump. When the original accurate position type returns, the
STEADYLINE algorithm will slowly transition back to the new accurate position at a default rate of 0.005 m/s.
This creates a smoother pass-to-pass relative accuracy at the expense of a possible degradation of absolute
accuracy.
For example, a receiver can be configured to do both RTK and GLIDE. If this receiver has a fixed RTK
position and experiences a loss of correction data causing the loss of the RTK solution it will immediately
apply the offset between the two position modes and uses the GLIDE position stability to maintain the
previous trajectory. Over time the GLIDE (or non-RTK) position will experience some drift. Once the RTK
position is achieved again the receiver will start using the RTK positions for position stability and will slowly
transition back to the RTK positions at a default rate of 0.005 m/s.
If the position type is OUT_OF_BOUNDS (see the UALCONTROL command on page 319) then STEADYLINE
is reset.
Message ID:

1452

Abbreviated ASCII Syntax:
STEADYLINE mode [transition_time]
Factory Default:
STEADYLINE disable
ASCII Example:
STEADYLINE prefer_accuracy 100

Field

ASCII
Value

Field Type

Binary
Value

Description

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary

1

STEADYLINE
header

-

2

mode

See Table 67,
STEADYLINE
STEADYLINE mode
Mode on page 310

3

Transition time

-

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

H

0

Enum

4

H

Time over which solutions will transition in
seconds. The minimum rate of change is Ulong
0.005 m/s regardless of this parameter.

4

H+4

309

Commands

Chapter 2
Table 67: STEADYLINE Mode
ASCII

Binary

Description

DISABLE

0

Disable STEADYLINE (default)

MAINTAIN

1

Maintain the relative offset of the solution. There is no discontinuity in the
position solution when the reference position type changes. Any offset in
the position is maintained.

TRANSITION

2

Transition, at a user-configurable rate. There is no discontinuity in the
position solution when the reference position type changes. The position
will slowly transition to the new reference position type over the time
period specified by the Transition time parameter.

RESET

3

Reset the saved offsets

4

TRANSITION when changing from less accurate reference positioning
type to more accurate reference positioning type. MAINTAIN when
changing from more accurate reference positioning type to a less
accurate reference positioning type.

5

For use with the UALCONTROL command:
TRANSITION when the position type is in WARNING MAINTAIN when
the position type is in OPERATIONAL DISABLE when the position type is
OUT_OF_BOUNDS

PREFER_ACCURACY

UAL

OEM6 Firmware Reference Manual Rev 12

310

Commands

Chapter 2

2.4.161 STEADYLINEDIFFERENTIALTIMEOUT
Sets how long the receiver will report RTK/PPP after corrections are lost
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use this command to set how long STEADYLINE will report RTK or PPP solutions after a loss of corrections.
STEADYLINE will report an RTK or PPP solution until this timeout expires or until the RTK/PPP timeout
expires, whichever is higher.
For example:
•

If the RTKTIMEOUT is 60 seconds and the STEADYLINEDIFFERENTIALTIMEOUT is 300 seconds,
STEADYLINE will report an RTK solution for up to 300 seconds.

•

If the RTKTIMEOUT is 60 seconds and the STEADYLINEDIFFERENTIALTIMEOUT is 30 seconds,
STEADYLINE will report an RTK solution for 60 seconds.

Message ID:

2002

Abbreviated ASCII Syntax:
STEADYLINEDIFFERENTIALTIMEOUT timeout
Factory Default:1
STEADYLINEDIFFERENTIALTIMEOUT 60
ASCII Example:
STEADYLINEDIFFERENTIALTIMEOUT 150

Field

ASCII
Value

Field Type

1

STEADYLINE
DIFFERENTIAL
TIMEOUT
header

2

timeout

Binary
Value

-

5 to 1200

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary

-

H

0

Timeout period in seconds

Float

4

H

Description

1. Versions prior to the 6.72 software release had a default value of 300.

OEM6 Firmware Reference Manual Rev 12

311

Commands

Chapter 2

2.4.162 THISANTENNAPCO
Sets the PCO model of this receiver
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use the THISANTENNAPCO command to set the Phase Center Offsets (PCO) for the given frequency of this
receiver. The Offsets are defined as North, East and Up from the Antenna Reference Point to the Frequency
Phase Center in mm.
Message ID:

1417

Abbreviated ASCII Syntax:
THISANTENNAPCO Frequency [NorthOffset] [EastOffset] [UpOffset]
ASCII Example:
THISANTENNAPCO GPSL1 0.61 1.99 65.64

Field

Field Type

ASCII
Value

1

THISANTENNAPCO
header

2

Frequency

3

North Offset

4
5

Binary
Value

-

Description

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Binary Binary
Bytes Offset

H

0

Enum

4

H

NGS standard Phase Center North
Offset in millimetres.a

Double

8

H+4

East Offset

NGS standard Phase Center East
Offset in millimetres.a

Double

8

H+12

Up Offset

NGS standard Phase Center Up
Offset in millimetres.a

Double

8

H+20

See Table 16,
The frequency for which the phase
Frequency Type
center offsets are valid.
on page 84

a. Enter values as per the NGS standards and tables to define which direction is plus or minus.

OEM6 Firmware Reference Manual Rev 12

312

Commands

Chapter 2

2.4.163 THISANTENNAPCV
Sets the PCV model of this receiver
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use the THISANTENNAPCV command to set the Phase Center Variation (PVC) for the given frequency of this
receiver. The Phase Center Variation entries follow the NGS standard and correspond to the phase elevation
at 5 degree increments starting at 90 degrees and decreasing to 0.
Message ID:

1418

Abbreviated ASCII Syntax:
THISANTENNAPCV Frequency [PCVArray]
ASCII Example:
THISANTENNAPCV GPSL1 0.00 -0.020 -0.07 -0.15 -0.24 -0.34 -0.43 -0.51 -0.56
-0.61 -0.65 -0.69 -0.69 -0.62 -0.44 -0.13 0.28 0.70 1.02

Field

ASCII
Value

Field Type

1

THISANTENNAPCV
header

2

Frequency

3

Binary
Value

-

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

See Table 16,
The frequency for which the phase
Frequency Type
center variations is valid.
on page 84

PCV Array

OEM6 Firmware Reference Manual Rev 12

Format

NGS standard 19 Element array of
Phase Center Variations for phase
variation for 5 degree elevation
increments starting at 90 degrees and
decreasing to 0. The variances are
entered in millimetres.

Emun

Binary Binary
Bytes Offset

H

0

4

H

Double
Array
152
[19]

H+4

313

Commands

Chapter 2

2.4.164 THISANTENNATYPE
Sets the antenna type of this receiver
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Use the THISANTENNATYPE command to set the antenna type of this receiver. The antenna type and
radome type are the NGS names for the antenna.
When antenna type is set using this command, the receiver will look up and use the Phase
Center Variations and Phase Center Offsets from an internal table.
Message ID:

1420

Abbreviated ASCII Syntax:
THISANTENNATYPE AntennaType [RadomeType]
ASCII Example:
THISANTENNATYPE NOV702

Field

ASCII
Value

Field Type

Binary
Value

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

Format

Binary
Bytes

Binary
Offset

-

H

0

1

THISANTENNA
TYPE header

2

antenna type

See Table 17, Antenna
NGS Antenna Name
Type on page 86

Enum

4

H

3

radome type

See Table 18, Radome
NGS Radome Name
Type on page 93

Enum

4

H+4

-

OEM6 Firmware Reference Manual Rev 12

314

Commands

Chapter 2

2.4.165 TRACKSV
Overrides automatic satellite assignment criteria
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to override the automatic satellite/channel assignment for all satellites with manual
instructions.
Message ID:

1326

Abbreviated ASCII Syntax:
TRACKSV system SVID condition
Factory Default:
GPS, GLONASS, GALILEO, QZSS and BeiDou default = GOODHEALTH
SBAS default = ANYHEALTH
For the OEM617D and FlexPak6D receivers, this command applies to both the primary and
secondary antennas.

Field

Field
Type

ASCII
Value

1

TRACKSV
header

2

System

Binary
Value

-

See Table 109, Satellite
System on page 494

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

System that the SVID belongs to

Enum

4

H

Satellite SVID number

Ulong

4

H+4

Tracking condition

Enum

4

H+8

GPS: 1-32
SBAS: 120-138, 183-187

3

SVID

GLONASS:1-24 (see
Section 1.3, GLONASS
Slot and Frequency
Numbers on page 31)
GALILEO: 1-36
QZSS: 193-197
BeiDou: 1-30
"0" allowed and applies to
all SVIDs for the specified
system type

4

Condition

See Table 68, TrackSV
Command Condition on
page 316

OEM6 Firmware Reference Manual Rev 12

315

Commands

Chapter 2
Table 68: TrackSV Command Condition

Binary

ASCII

Description

1

NEVER

Never track this satellite

2

GOODHEALTH

Track this satellite if the health is indicated as healthy in both the almanac and
ephemeris

3

ANYHEALTH

Track this satellite regardless of health status

4

ALWAYS

Always track this satellite

OEM6 Firmware Reference Manual Rev 12

316

Commands

Chapter 2

2.4.166 TUNNELESCAPE
Breaks out of an established tunnel
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The tunnel escape sequence feature allows you to break out of a tunnel between two ports by sending a
predefined sequence of bytes through the tunnel in-line with the data stream. While the Bluetooth
implementation on OEM628 and ProPak6 products utilizes the tunnel mode of OEM receivers, the tunnel
escape sequence feature is applicable to any tunneling application.
Use the TUNNELESCAPE command to specify the tunnel escape sequence. The escape sequence is applied
independently to all active tunnels. Use the SAVECONFIG command to save the escape sequence in case of
a power cycle.
This command is used to define an escape sequence that, when detected in a byte stream between any two
COM (or AUX) ports, resets the interface mode to NOVATEL NOVATEL on those ports. The baud rate and
other port parameters remain unaffected.
The TUNNELESCAPE command accepts three parameters. The first is the switch parameter with ENABLE or
DISABLE options. The second is the length parameter. It is a number from 1 to 8 and must be present if the
switch parameter is set to ENABLE. The third parameter, esc seq, consists of a series of pairs of digits
representing hexadecimal numbers, where the number of pairs are equal to the value entered for the second
parameter. The series of hexadecimal pairs of digits represent the escape sequence. The receiver detects a
sequence in a tunnel exactly as it was entered.
For example, the command TUNNELESCAPE ENABLE 4 61626364 searches for the bytes representing
“abcd” in a tunnel stream. TUNNELESCAPE ENABLE 3 AA4412 searches for the NovAtel binary log sync
bytes.
You must first set up a tunnel. For example, create a tunnel between COM1 and COM2 by entering
INTERFACEMODE COM1 TCOM2 NONE OFF. The commands can be entered in any order.
1. All bytes, leading up to and including the escape sequence, pass through the tunnel before
it is reset. Therefore, the escape sequence is the last sequence of bytes that passes
through the tunnel. Configure the receiver to detect and interpret the escape sequence. For
example, use this information to reset equipment or perform a shutdown process.
2. The receiver detects the escape sequence in all active tunnels in any direction.
3. Create tunnels using the INTERFACEMODE command (see page 176).
Message ID:

962

Abbreviated ASCII Syntax:
TUNNELESCAPE switch length escseq
Factory Default:
TUNNELESCAPE disable 0
ASCII Example:
TUNNELESCAPE enable 1 aa

OEM6 Firmware Reference Manual Rev 12

317

Commands

Field

Chapter 2

ASCII
Value

Field Type

1

TUNNELESCAPE
header

2

switch

3

length

4

escseq

Binary
Value

-

DISABLE

0

ENABLE

1

1 to 8

Description

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
H
whether the command is abbreviated
ASCII, ASCII or binary, respectively

0

-

Enable or disable the tunnel escape
mode

Enum

4

H

Specifies the number of hex bytes to
follow

Ulong

4

H+4

Escape sequence where Hex pairs
are entered without spaces, for
example, AA4412

Uchar[8] 8

H+8

If using the SAVECONFIG command in NovAtel Connect, ensure all windows other than the
Console window are closed. If open, NovAtel Connect also saves log commands used for its
various windows. This results in unnecessary data being logged.

OEM6 Firmware Reference Manual Rev 12

318

Commands

Chapter 2

2.4.167 UALCONTROL
Setup User Accuracy levels
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The UALCONTROL command is used to define User Accuracy Levels. User accuracy levels are user defined
standard deviations thresholds, used to determine solution acceptability. Issuing the UALCONTROL command
causes the BESTPOS and GPGGA solution types to be controlled via the specified thresholds, rather than by
the solution source or mode. The new solution types are described in the table below.
Table 69: User Accuracy Level Supplemental Position Types and NMEA Equivalents
BESTPOS Position Typea

Value

NMEA Equivalentb

70

OPERATIONAL

4

71

WARNING

5

72

OUT_OF_BOUNDS

1

a. As reported in the BESTPOS log (see page 393).
b. Refers to the GPGGA quality indicator (see page 460 for details).

The SETBESTPOSCRITERIA command (see page 279) determines which standard deviations are compared
against the provided thresholds. When using the STEADYLINE command (see page 309) together with the
UALCONTROL command, the UAL setting is recommended. Refer to Table 67, STEADYLINE Mode on
page 310 for mode details.
UAL is useful for applications that rely upon specific solutions types being present in the
BESTPOS or GPGGA logs. For example, if an agricultural steering system commonly requires
an RTK fixed GPGGA solution type (4) to operate, and interruptions in RTK conventionally
cause the GPGGA to switch to another solution type. This causes the steering system to
disengage. However, while using STEADYLINE, solutions with fixed RTK accuracy can be
maintained by GLIDE even if RTK is interrupted. UALCONTROL can be used to ensure that the
required solution type is maintained through such interruptions, permitting the steering system
to function continuously.
Message ID:

1627

Abbreviated ASCII Syntax:
UALCONTROL Action [Operational_limit] [Warning_limit]
Factory Default:
UALCONTROL disable
ASCII Example:
UALCONTROL enable 0.10 0.20

OEM6 Firmware Reference Manual Rev 12

319

Commands

Field

1

Chapter 2

ASCII
Value

Field Type

3

Action

Description

Format

-

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

0

Disables this feature

ENABLE

1

Replace BESTPOS and GPGGA
position types with OPERATIONAL,
WARNING or OUT_OF_BOUNDS
based on the entered standard
Enum
deviations (refer to Table 69, User
Accuracy Level Supplemental Position
Types and NMEA Equivalents on
page 319)

CLEAR

2

Disable this feature and reset the
entered standard deviations.

UALCONTROL
header
DISABLE

2

Binary
Value

Operational
Limit

Standard deviation in metres to report
Double
OPERATIONAL

Binary Binary
Bytes Offset

H

0

4

H

8

H+4

8

H+12

Standard deviation in metres to report
WARNING
4

Warning Limit

OEM6 Firmware Reference Manual Rev 12

Note: OUT_OF_BOUND reports when Double
the standard deviation exceeds this
value

320

Commands

Chapter 2

2.4.168 UNASSIGN
Unassigns a previously assigned channel
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command cancels a previously issued ASSIGN command (see page 67) and the SV channel reverts to
automatic control (the same as ASSIGN AUTO).
Message ID:

29

Abbreviated ASCII Syntax:
UNASSIGN channel [state]
Input Example:
UNASSIGN 11
Issuing the UNASSIGN command to a channel that was not previously assigned by the ASSIGN
command has no effect.

For the OEM617D and FlexPak6D receivers, when using the UNASSIGN command for SV
channels on the primary antenna, the SV channel count goes from 0 to N-1, where N is the
number of channels in the primary antenna channel configuration. When using the UNASSIGN
command for SV channels on the secondary antenna, the SV channel count begins at N and
goes to N+(M-1), where M is the number of SV channels in the secondary antenna channel
configuration.

Field

Field Type

ASCII Value

1

UNASSIGN
header

2

channel

state

3

Binary Value

Description

Format

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

Binary Binary
Bytes Offset

H

0

0 to n, where n is the number Channel number reset to
of the last channel in the
automatic search and acquisition Ulong
current channel configuration mode

4

H

These return SV channel
control to the automatic
Set the SV channel state
search engine immediately
(currently ignored)
(see Table 12, Channel State
on page 67)

4

H+4

-

OEM6 Firmware Reference Manual Rev 12

Enum

321

Commands

Chapter 2

2.4.169 UNASSIGNALL
Unassigns all previously assigned channels
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command cancels all previously issued ASSIGN commands for all SV channels (same as ASSIGNALL
AUTO). Tracking and control for each SV channel reverts to automatic mode.
Message ID:

30

Abbreviated ASCII Syntax:
UNASSIGNALL [system]
Input Example:
UNASSIGNALL GPS
Issuing the UNASSIGNALL command has no effect on channels that were not previously
assigned using the ASSIGN command.

Field

ASCII
Value

Field Type

Binary
Value

1

UNASSIGNALL
header

-

2

system

See Table 13,
Channel System
on page 71

-

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

H

0

System that will be affected by the
unassignall command (default = ALL)

Enum

4

H

Description

322

Commands

Chapter 2

2.4.170 UNDULATION
Chooses undulation
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command permits you to enter a specific geoidal undulation value. In the option field, the EGM96 table
provides ellipsoid heights at a 0.5° by 0.5° spacing while the OSU89B is implemented at a 2° by 3° spacing.
In areas of rapidly changing elevation, you could be operating somewhere within the 2° by 3° grid with an
erroneous height. EGM96 provides a more accurate model of the ellipsoid which results in a denser grid of
heights. It is also more accurate because the accuracy of the grid points themselves has also improved from
OSU89B to EGM96. For example, the default grid (EGM96) is useful where there are underwater canyons,
steep drop-offs or mountains.
The undulation values reported in the position logs are in reference to the ellipsoid of the chosen datum.
Refer to the application note APN-006 Geoid Issue, available on our website www.novatel.com/support/
search/ for a description of the relationships in Figure 10, Illustration of Undulation.
Figure 10: Illustration of Undulation

Message ID:

214

Abbreviated ASCII Syntax:
UNDULATION option [separation]
Factory Default:
UNDULATION egm96 0.0000
ASCII Example 1:
UNDULATION osu89b
ASCII Example 2:
UNDULATION USER -5.599999905

OEM6 Firmware Reference Manual Rev 12

323

Commands

Field

1

Chapter 2
ASCII
Value

Field Type

UNDULATION
header
USER

2

3

option

separation

Binary
Value

Description

Format

-

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

1

Use the user specified undulation value

OSU89B 2

Use the OSU89B undulation table

EGM96

Use global geoidal height model EGM96
table

3

± 1000.0 m

OEM6 Firmware Reference Manual Rev 12

The undulation value (required for the
USER option) (default = 0.000)

Binary Binary
Bytes Offset

H

0

Enum

4

H

Float

4

H+4

324

Commands

Chapter 2

2.4.171 UNLOCKOUT
Reinstates a satellite in the solution
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command allows a satellite which has been previously locked out (LOCKOUT command on page 190) to
be reinstated in the solution computation. If more than one satellite is to be reinstated, this command must be
reissued for each satellite reinstatement.
Message ID:

138

Abbreviated ASCII Syntax:
UNLOCKOUT prn
Input Example:
UNLOCKOUT 8
The UNLOCKOUT command is used to reinstate a satellite while leaving other locked out
satellites unchanged.
This command can be used for GPS, GLONASS, SBAS and QZSS.

Field

1

ASCII
Value

Field Type

UNLOCKOUT
header

Binary
Value

-

Description
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively

Format

Binary
Bytes

Binary
Offset

-

H

0

4

H

GPS: 1-32
SBAS: 120-138, 183-187
2

prn

GLONASS: see
Section 1.3, GLONASS
Slot and Frequency
Numbers on page 31

A single satellite PRN number to
Ulong
be reinstated

QZSS 193-197

OEM6 Firmware Reference Manual Rev 12

325

Commands

Chapter 2

2.4.172 UNLOCKOUTALL
Reinstates all previously locked out satellites
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command allows all satellites which have been previously locked out (LOCKOUT command on page 190
or LOCKOUTSYSTEM command on page 191) to be reinstated in the solution computation.
This command cannot be used in conjunction with SAVECONFIG to automatically remove the
factory default LOCKOUTSYSTEM. It must be issued each time the receiver is started up.
Message ID:

139

Abbreviated ASCII Syntax:
UNLOCKOUTALL
Input Example:
UNLOCKOUTALL

OEM6 Firmware Reference Manual Rev 12

326

Commands

Chapter 2

2.4.173 UNLOCKOUTSYSTEM
Reinstates previously locked out system
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command allows a system which has been previously locked out (refer to the LOCKOUTSYSTEM
command on page 191) to be reinstated in the solution computation.
If more than one system is to be reinstated, this command must be reissued for each system
reinstatement.

This command cannot be used in conjunction with SAVECONFIG to automatically remove the
factory default LOCKOUTSYSTEM. It must be issued each time the receiver is started up.
Message ID:

908

Abbreviated ASCII Syntax:
UNLOCKOUTSYSTEM system
Input Example:
UNLOCKOUTSYSTEM glonass
The UNLOCKOUTSYSTEM command is used to reinstate a system while leaving other locked out
systems unchanged.

Field

ASCII
Value

Field Type

Binary
Value

1

UNLOCKOUT
header

-

2

system

See Table 109,
Satellite System
on page 494

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

Binary
Bytes

Binary
Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

H

0

A single satellite system to be
reinstated

4

H

Enum

327

Commands

Chapter 2

2.4.174 UNLOG
Removes a log from logging control
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command is used to remove a specific log request from the system.
Message ID:

36

Abbreviated ASCII Syntax:
UNLOG [port] message
Input Example:
UNLOG com1 bestposa
UNLOG bestposa
The UNLOG command is used to remove one or more logs while leaving other logs unchanged.

Binary
Field

Field
Name

Binary Value

Description

1

UNLOG
(binary)
header

(See Table 3, Binary Message
Header Structure on page 23)

2

port

See Table 4, Detailed Port Identifier Port to which log is being sent
on page 24 (decimal port values
(default = THISPORT)
greater than 16 may be used)

3

message Any valid message ID

Format

This field contains the message
header

Binary Binary
Bytes Offset
H

0

4

H

Message ID of log to output
(refer to Table 80, OEM6 Logs
Ushort
by Message ID on page 364) for
a list of message ID numbers

2

H+4

Message type of log

Char

1

H+6

Char

1

H+7

Enum

Bits 0-4 = Reserved
Bits 5-6 = Format
00 = Binary
01 = ASCII
4

message
type

10 = Abbreviated ASCII, NMEA
11 = Reserved
Bit 7 = Response Bit (Responses
on page 29)
0 = Original Message
1 = Response Message

5

Reserved

OEM6 Firmware Reference Manual Rev 12

328

Commands

Chapter 2

ASCII
Field

Field
Type

ASCII
Value

Binary
Value

Description

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII or ASCII, respectively

UNLOG
(ASCII)
header

-

2

port

See Table 4, Detailed Port
Port to which log is being sent
Identifier on page 24
(decimal port values greater (default = THISPORT)
than 16 may be used)

3

message

Message
Name

1

-

N/A

OEM6 Firmware Reference Manual Rev 12

Format

Message Name of log to be disabled
Table 10, OEM6 Commands in
Alphabetical Order on page 44

Binary Binary
Bytes Offset

H

0

Enum

4

H

Ulong

4

H+4

329

Commands

Chapter 2

2.4.175 UNLOGALL
Removes all logs from logging control
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

If [port] is specified, this command disables all logs on the specified port only. All other ports are unaffected. If
[port] is not specified this command defaults to the ALL_PORTS setting.
Message ID:

38

Abbreviated ASCII Syntax:
UNLOGALL [port] [held]
Input Example:
UNLOGALL com2_15
UNLOGALL true
The UNLOGALL command is used to remove all log requests currently in use.

ASCII
Value

Field

Field Type

1

UNLOGALL
header

2

port

-

Description

0

Does not remove logs with the HOLD
parameter (default)

1

Removes previously held logs, even
those with the HOLD parameter

held
TRUE

OEM6 Firmware Reference Manual Rev 12

Format

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

See Table 4, Detailed
Port Identifier on page 24 Port to clear
(decimal values greater (default = ALL_PORTS)
than 16 may be used)
FALSE

3

Binary
Value

Binary Binary
Bytes Offset

H

0

Enum

4

H

Bool

4

H+4

330

Commands

Chapter 2

2.4.176 USERDATUM
Sets user customized datum
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command permits entry of customized ellipsoidal datum parameters. This command is used in
conjunction with the DATUM command (see page 115). If used, the command default setting for USERDATUM
is WGS84.
When the USERDATUM command is entered, the USEREXPDATUM command is then issued internally with the
USERDATUM command values (page 333). It is the USEREXPDATUM command that appears in the
RXCONFIG log. If the USEREXPDATUM or the USERDATUM command are used, their newest values overwrite
the internal USEREXPDATUM values.
The transformation for the WGS84 to Local used in the OEM6 family is the Bursa-Wolf transformation or
reverse Helmert transformation. In the Helmert transformation, the rotation of a point is counter clockwise
around the axes. In the Bursa-Wolf transformation, the rotation of a point is clockwise. Therefore, the reverse
Helmert transformation is the same as the Bursa-Wolf.
Message ID:

78

Abbreviated ASCII Syntax:
USERDATUM semimajor flattening dx dy dz rx ry rz scale
Factory Default:
USERDATUM 6378137.0 298.2572235628 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ASCII Example:
USERDATUM 6378206.400 294.97869820000 -12.0000 147.0000 192.0000 0.0000
0.0000 0.0000 0.000000000
Use the USERDATUM command in a survey to fix the position with values from another known
datum so that the GNSS calculated positions are reported in the known datum rather than
WGS84.

Field

Field Type

ASCII Binary
Value Value

1

USERDATUM
header

2

semimajor

6300000.0 6400000.0 m

3

flattening

290.0 - 305.0

4

dx

± 2000.0

5

dy

± 2000.0

6

dz

± 2000.0

-

OEM6 Firmware Reference Manual Rev 12

Description

Format

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively
Datum Semi-major Axis (a) in metres
Reciprocal Flattening,
1/f = a/(a-b)
Datum offsets from local to WGS84.
These are the translation values
between the user datum and WGS84
(internal reference)

Binary Binary
Bytes Offset

H

0

Double 8

H

Double 8

H+8

Double 8

H+16

Double 8

H+24

Double 8

H+32

331

Commands

Field

Chapter 2

Field Type

ASCII Binary
Value Value

Description

Format

Binary Binary
Bytes Offset

H+48

rz

± 10.0 radians Datum rotation angle about X, Y and Z. Double 8
These values are the rotation from your
± 10.0 radians local datum to WGS84. A positive sign is Double 8
for counter clockwise rotation and a
± 10.0 radians negative sign is for clockwise rotation
Double 8

scale

± 10.0 ppm

Scale value is the difference in ppm
between the user datum and WGS84

H+64

7

rx

8

ry

9
10

OEM6 Firmware Reference Manual Rev 12

Double 8

H+40

H+56

332

Commands

Chapter 2

2.4.177 USEREXPDATUM
Sets custom expanded datum
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Like the USERDATUM command, this command allows you to enter customized ellipsoidal datum parameters.
However, USEREXPDATUM literally means user expanded datum which allows entering additional datum
information such as velocity offsets and time constraints. The 7 expanded parameters are rates of change of
the initial 7 parameters. These rates of change affect the initial 7 parameters over time relative to the
Reference Date provided by the user.
This command is used in conjunction with the DATUM command (see page 115). If this command is used
without specifying any parameters, the command defaults to WGS84. If a USERDATUM command is entered,
the USEREXPDATUM command is then issued internally with the USERDATUM command values (page 331). It
is the USEREXPDATUM command that appears in the RXCONFIG log. If the USEREXPDATUM or the
USERDATUM command are used, their newest values overwrite the internal USEREXPDATUM values.
Message ID:

783

Abbreviated ASCII Syntax:
USEREXPDATUM semimajor flattening dx dy dz rx ry rz scale xvel yvel zvel
xrvel yrvel zrvel scalev refdate
Factory Default:
USERexpDATUM 6378137.0 298.25722356280 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0
ASCII Example:
USEREXPDATUM 6378137.000 298.25722356280 0.000000000 0.000000000
0.000000000 0.00000000 0.000000000 0.000000000 0.000000000 0.000000000
0.000000000 0.000000000 0.0000 0.000000000 0.000000000 0.000000000
0.000000000
Use the USEREXPDATUM command in a survey to fix the position with values from another
known datum so that the GPS calculated positions are reported in the known datum rather than
WGS84. For example, it is useful for places like Australia, where the continent is moving
several centimetres a year relative to WGS84. With USEREXPDATUM you can also input the
velocity of the movement to account for drift over the years.

Field

ASCII
Value

Field Type

Binary
Value

Format

Binary Binary
Bytes Offset

This field contains the command name
or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

-

H

0

Description

1

USEREXPDATUM
header

2

semimajor

6300000.0 6400000.0 m

Datum semi-major axis (a) in metres

Double 8

H

3

flattening

290.0 - 305.0

Reciprocal Flattening, 1/f = a/(a-b)

Double 8

H+8

-

OEM6 Firmware Reference Manual Rev 12

333

Commands

Field

Chapter 2

Field Type

ASCII
Value

Binary
Value

Description

Format

Binary Binary
Bytes Offset

Double 8

H+16

Double 8

H+24

Double 8

H+32

Datum rotation angle about X, Y and Z. Double 8
These values are the rotation from your
local datum to WGS84. A positive sign is Double 8
for counter clockwise rotation and a
Double 8
negative sign is for clockwise rotation

H+40

4

dx

± 2000.0 m

5

dy

± 2000.0 m

6

dz

± 2000.0 m

7

rx

± 10.0 radians

8

ry

± 10.0 radians

9

rz

± 10.0 radians

10

scale

± 10.0 ppm

Scale value is the difference in ppm
between the user datum and WGS84

Double 8

H+64

11

xvel

± 2000.0 m/yr

Velocity vector along X-axis

Double 8

H+72

12

yvel

± 2000.0 m/yr

Velocity vector along Y-axis

Double 8

H+80

13

zvel

± 2000.0 m/yr

Velocity vector along Z-axis

Double 8

H+88

14

xrvel

± 10.0 radians/yr Change in the rotation about X over time Double 8

H+96

15

yrvel

± 10.0 radians/yr Change in the rotation about Y over time Double 8

H+104

16

zrvel

± 10.0 radians/yr Change in the rotation about Z over time Double 8

H+112

17

scalev

± 10.0 ppm/yr

H+120

Datum offsets from local to WGS84.
These are the translation values
between the user datum and WGS84
(internal reference)

Change in scale from WGS84 over time Double 8

H+48
H+56

Reference date of parameters
18

refdate

0.0 year

Example:
2011.00 = Jan 1, 2011

Double 8

H+128

2011.19 = Mar 11, 2011

OEM6 Firmware Reference Manual Rev 12

334

Commands

Chapter 2

2.4.178 UTMZONE
Sets UTM parameters
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This command sets the UTM persistence, zone number or meridian. Refer to
earth-info.nga.mil/GandG/coordsys/grids/referencesys.html for more information and a world map of UTM
zone numbers.
1. The latitude limits of the UTM System are 80°S to 84°N, so if your position is outside this
range, the BESTUTM log outputs a northing, easting and height of 0.0, along with a zone
letter of “*” and a zone number of 0, so that it is obvious that the data in the log is dummy
data.
2. If the latitude band is X, then the Zone number should not be set to 32, 34 or 36. These
zones were incorporated into other zone numbers and do not exist.
Message ID:

749

Abbreviated ASCII Syntax:
UTMZONE command [parameter]
Factory Default:
UTMZONE auto 0
ASCII Example 1:
UTMZONE SET 10
ASCII Example 2:
UTMZONE CURRENT
The UTM grid system is displayed on all National Topographic Series (NTS) of Canada maps
and United States Geological Survey (USGS) maps. On USGS 7.5-minute quadrangle maps
(1:24,000 scale), 15-minute quadrangle maps (1:50,000, 1:62,500, and standard-edition
1:63,360 scales) and Canadian 1:50,000 maps the UTM grid lines are drawn at intervals of
1,000 metres and are shown either with blue ticks at the edge of the map or by full blue grid
lines. On USGS maps at 1:100,000 and 1:250,000 scale and Canadian 1:250,000 scale maps a
full UTM grid is shown at intervals of 10,000 metres.

Field

Field Type

ASCII Binary
Value Value

Description

Format

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

Binary
Bytes

Binary
Offset

H

0

1

UTMZONE
header

-

2

command

See Table 70, UTM Zone Commands on page 336

Enum

4

H

3

parameter

See Table 70, UTM Zone Commands on page 336

Long

4

H+4

-

OEM6 Firmware Reference Manual Rev 12

335

Commands

Chapter 2
Table 70: UTM Zone Commands

Binary

ASCII

Description

0

AUTO

UTM zone default that automatically sets the central meridian and does not switch
zones until it overlaps by the set persistence. This a spherical approximation to the
earth unless you are at the equator (default = 0) (m)

1

CURRENT

Same as UTMZONE AUTO with infinite persistence of the current zone. The
parameter field is not used

2

SET

Sets the central meridian based on the specified UTM zone. A zone includes its
western boundary, but not its eastern boundary, Meridian. For example, zone 12
includes (108°W, 114°W) where 108° < longitude < 114°

3

Sets the central meridian as specified in the parameter field. In BESTUTM, the zone
MERIDIAN number is output as 61 to indicate the manual setting (zones are set by pre-defined
central meridians not user-set ones)

OEM6 Firmware Reference Manual Rev 12

336

Commands

Chapter 2

2.4.179 WIFIAPCONFIG
Configure the Wi-Fi AP
OEM Platform:

ProPak6

This command configures the Wi-Fi Access Points (AP), which are used when the Wi-Fi radio is configured
for use as an AP. Up to four APs can be configured on the ProPak6. Each AP supports up to 5 clients
associated at one time. By default, ProPak6 AP ID 1 is enabled.
By default and after a factory reset (FRESET), the Wi-Fi AP is enabled. Refer to the ProPak6 User Manual
(OM-20000148) for instructions on enabling Wi-Fi AP.
Also see the WIFICONFIG command (see page 344) for more information.
When changing any settings using the WIFIAPCONFIG command, the Wi-Fi controller requires a power cycle
before the settings will take effect. See the WIFICONFIG command (see page 344) to change the state to
OFF then back to disabled/enabled.
Use the DHCPCONFIG command to configure the optional parameters for the DHCP Server.

Security
By default, minimal network/port security is set. It is the responsibility of the user to assess security
requirements and configure the ProPak6 as necessary. Refer to the Security section of the ProPak6 User
Manual (OM-20000148) for security settings.
Message ID:

1665

Abbreviated ASCII Syntax:
WIFIAPCONFIG [WifiApId] WifiApConfiguration value
ASCII Example:
WIFIAPCONFIG 1 SSID "MySSID"
WIFIAPCONFIG 1 IPADDR "10.10.23.1"
This command must be entered in ASCII or Abbreviated ASCII.

Field

1

Field Type

ASCII
Value

Binary
Value

WIFIAPCONFIG
header

OEM6 Firmware Reference Manual Rev 12

Description

Format

This field contains the command
name or the message header
depending on whether the command is abbreviated ASCII, ASCII or
binary, respectively

Binary
Bytes

H

Binary
Offset

0

337

Commands

Field

Chapter 2
ASCII
Value

Field Type

Binary
Value

Description

1 = AP 1
2 = AP 2
3 = AP 3
4 = AP 4

wifiapid

3

See Table 71,
WIFIAPCONFIG
Configuration parameter for the
wifiapconfiguration
Parameters and
network.
Values on page 338
The value assigned to the
See Table 71,
configuration parameter. The valid
WIFIAPCONFIG
range for Value depends on which
Parameters and
configuration parameter is being
Values on page 338
changed.

value

Binary
Bytes

Binary
Offset

The ID of the AP being configured.

1
2
3
4

2

4

Format

Enum

4

H

Enum

4

H+4

String
[68]

variablea H+8

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

Table 71: WIFIAPCONFIG Parameters and Values
Parameter

Value

Description

SSID

STRING

The Service Set Identifier (network name) of the Wi-Fi AP.

IsHidden

TRUE or FALSE

When this parameter set to TRUE, the Wi-Fi AP does not broadcast the
SSID.
The 802.11 Channel to use for this Wi-FI AP.

Channel

Authentication

Encryption

802.11 Channel

The valid range of Channels depends on 802.11 regulatory domain. In
North America the valid range is: 1-11

OPEN

The authentication type used for the Wi-Fi AP.

WPA_PSK
WPA/WPA2_PSK

The value for Authentication is dependent on the values for Encryption
and Protocol. See Table 72, Legal Combination of Authentication,
Encryption, Protocol on page 339 for the valid combinations of
Authentication, Encryption and Protocol.

NONE

The encryption protocol used for the Wi-Fi AP.

TKIP

The value for Encryption is dependent on the values for Authentication
and Protocol. See Table 72, Legal Combination of Authentication,
Encryption, Protocol on page 339 for the valid combinations of
Authentication, Encryption and Protocol.

WPA2_PSK

AES_CCMP
TKIP AES_CCMP

Passphrase

IPAddr

STRING

WPA/WPA2 passphrase (8 to 63 ASCII characters)
or
Hex key (32 bytes - 64 ASCII characters)

ddd.ddd.ddd.ddd

The IP address of the Wi-Fi AP.

(for example: 10.0.0.2) This must be a static IP address.

OEM6 Firmware Reference Manual Rev 12

338

Commands

Chapter 2

Parameter

Value

Description

ddd.ddd.ddd.ddd
Netmask

Gateway

Protocol

The netmask for Wi-Fi AP IP address.

(for example:
255.255.255.0)
ddd.ddd.ddd.ddd

The IP address of the gateway

(for example: 10.0.0.1)
b

The 802.11 standard protocol used for the Wi-Fi AP.

g

The value for Protocol is dependent on the values for Authentication and
Encryption. See Table 72, Legal Combination of Authentication,
Encryption, Protocol on page 339 for the valid combinations of
Authentication, Encryption and Protocol.

bg
bgn

Client_Timeout 1 to 3600 seconds

Time in seconds for the Wi-Fi AP to detect a lost client connection.

Table 72: Legal Combination of Authentication, Encryption, Protocol
Authentication

Encryption

Protocol

Comments

OPEN

NONE

b, g, bg, bgn No security.

WPA_PSK

TKIP

b, g, bg

WPA2_PSK

AES_CCMP

b, bg, bgn

802.11n cannot be used with TKIP-only encryption
Not recommended. Intended to support legacy clients only.

WPA/WPA2_PSK TKIP AES_CCMP b, g, bg, bgn Not recommended. Intended to support legacy clients only
Table 73: WIFIAPCONFIG Default Parameters for AP 1
Parameter

Value

SSID

ProPak6 

IsHidden

FALSE

Channel

6

Authentication

WPA2_PSK

Encryption

AES_CCMP

Passphrase



IPAddr

192.168.1.1

Netmask

255.255.255.0

Protocol

bgn

Client_Timeout

300 seconds

For AP 2, AP 3 and AP 4, all of the WIFIAPCONFIG parameters are blank by default.

OEM6 Firmware Reference Manual Rev 12

339

Commands

Chapter 2

2.4.180 WIFICLICONFIG
Configures Wi-Fi client
OEM Platform:

ProPak6

This command configures the Wi-Fi client. The ProPak6 can store the configurations for a maximum of 16
Access Points (AP).
To use the ProPak6 as an Wi-Fi client, use the WIFICONFIG command to set the Wi-Fi mode to
client and Wi-Fi state to enabled.
wificonfig mode client
wificonfig state enabled
See the WIFICONFIG command (see page 344) for more information.
A minimal configuration includes setting the SSID, Authentication and Encryption (to connect to an open AP
using DHCP). Contact your network administrator for the settings required on your local network architecture.
Message ID:

1614

Abbreviated ASCII Syntax:
WIFICLICONFIG WifiNetworkId WifiNetworkConfiguration Value
Factory Defaults:
SSID =

blank

Passphrase =

blank

Authentication =

OPEN

Encryption =

NONE

DHCP =

TRUE

ASCII Example:
WIFICLICONFIG 1 SSID NOVATEL
Field

Field Type

Description

1

This field contains the command name or the message
WIFICLICONFIG
header depending on whether the command is abbreviated
header
ASCII, ASCII or binary, respectively

2

wifinetworkid

ID of the Wi-Fi network. Valid range: 1 to 16

3

wifinetwork
configuration

Configuration parameter for the network

4

value

See Table 74, WIFICLICONFIG Parameters on page 341
Value for the wifinetworkconfiguration parameter

Format

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Enum

4

H+4

String
See Table 74, WIFICLICONFIG Parameters on page 341 [68]

variablea H+8

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

340

Commands

Chapter 2
Table 74: WIFICLICONFIG Parameters

WiFiNetwork
Configuration

Value

Description
Service Set Identifier of the Wi-Fi AP being connected to

SSID

STRING

BSSID

aa::bb::cc::ee::ff

Basic Service Set ID. The client will connect only to this BSSID.

TRUE, FALSE

When set to TRUE, the Wi-Fi client network is included as a
potential connection when the client interface is enabled and the
system is searching for Access Points it knows.

Enabled

This value must be entered in ASCII characters only (no binary).

When set to FALSE, the Wi-Fi client network is kept for reference
but is not automatically used.
Priority

INT

Instructs the client to always attempt connecting to this network,
regardless of availability of other networks, signal strength, etc

Authentication

OPEN
WPA_PSK
WPA2_PSK

The authentication method for the AP being connected to.

Encryption

None
TKIP
AES_CCMP

The encryption method for the AP being connected to.

Passphrase

String, 64

WPA, WPA2 passphrase (8-63 ASCII chars), or key (64 hex digits)
When set to TRUE, DHCP is used to acquire the network
configuration from the AP.

DHCP

TRUE, FALSE

When set to FALSE the static configuration values (shown below)
are used to connect to the AP.
Note that unless this value is specifically set to FALSE, DHCP is
enabled regardless of any network parameters that may be set (IP,
Netmask, Gateway, DNS)

IPAddr

ddd.ddd.ddd.ddd
The IP address to be used by the receiver.
(for example: 10.0.0.2) (If not using DHCP.)

Netmask

ddd.ddd.ddd.ddd
(for example:
255.255.255.0)

Gateway

ddd.ddd.ddd.ddd
The IP address of the default gateway.
(for example: 10.0.0.1) (If not using DHCP.)

DNS1

ddd.ddd.ddd.ddd
The IP address of the primary DNS server.
(for example: 10.0.0.3) (If not using DHCP.)

OEM6 Firmware Reference Manual Rev 12

The netmask to be used by the receiver.
(If not using DHCP.)

341

Commands

Chapter 2

2.4.181 WIFICLICONTROL
Controls Wi-Fi client
OEM Platform:

ProPak6

Use the WIFILCLICONTROL command to scan for Access Points (AP) within range of the Propak6 or to
select one of the configurations already entered (using the WIFICLICONFIG command (see page 340)) to
gain access to a particular AP.
Any changes resulting from WIFICLICONTROL are transient, i.e., they only affect the running instance of the
Wi-Fi stack and do not persist across restarts of the Wi-Fi stack.
The WIFILCLICONTROL command cannot be saved with SAVECONFIG.

Message ID:

1615

Abbreviated ASCII Syntax:
WIFICLICONTROL WifiClientControl value
ASCII Example:
WIFICLICONTROL SCAN
Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

This field contains the command name or the message
WIFICLICONTROL
header depending on whether the command is
header
abbreviated ASCII, ASCII or binary, respectively

2

wificlientcontrol

Control parameter (refer to Table 75,
WIFICLICONTROL Parameters on page 343)

Enum

3

value

Used by the control parameter

String [32] variablea H+4

0

4

H

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

If you experience problems connecting to a new Wi-Fi Access Point when previously connected
to another Access Point, the Wi-Fi module may need to be restarted. Issue the following
commands to restart the Wi-Fi module:
WIFICONFIG STATE OFF
log wificlistatusa onchanged

(wait for WIFICLISTATUS to show OFF)

WIFICONFIG STATE ENABLED

OEM6 Firmware Reference Manual Rev 12

342

Commands

Chapter 2
Table 75: WIFICLICONTROL Parameters

WifiClientControl

Description
Triggers a scan to find any APs within range of the ProPak6.

SCAN

Results are output into the WIFICLISCANRESULTS log (see page 728) and can be
used to configure Wi-Fi networks using the WIFICLICONFIG command

APPLYCONFIG

Applies configuration changes made with WIFICLICONFIG and enables automatic
connectivity. This may result in the network disconnecting and reconnecting.

DISCONNECT

Disconnects from the current AP, if any. Automatic connectivity is disabled.

CONNECT

Connects to one of the networks defined using the WIFICLICONFIG command. This
parameter requires a value. The valid values are: 1 - 16

OEM6 Firmware Reference Manual Rev 12

343

Commands

Chapter 2

2.4.182 WIFICONFIG
Configure the Wi-Fi radio power and operating mode
OEM Platform:

ProPak6

Use this command to configure the power and operating mode of the Wi-Fi radio. When the Wi-Fi radio is
enabled, it can run in one of two states:
•

Client mode

•

Access Point (AP) mode

Client mode and AP mode are mutually exclusive. The AP settings are configured using the WIFIAPCONFIG
command (see page 337). The Client settings are configured using the WIFICLICONFIG command (see
page 340).
When the WIFICONFIG command is used to change the operational MODE to AP or Client, the Wi-Fi
controller powers on and the radio is automatically set to the enabled state.
This command can be saved with the SAVECONFIG command.

Message ID:

1617

Abbreviated ASCII Syntax:
WIFICONFIG WifiConfiguration Parameter 1 [Parameter 2]
Factory Default:
wificonfig mode AP
wificonfig state enabled
The factory default sets the Wi-Fi radio to AP mode enabled. See Table 73, WIFIAPCONFIG
Default Parameters for AP 1 on page 339 for the default AP mode settings.
ASCII Examples (AP):
wificonfig mode ap

Configures the receiver as an AP with the default profile (1)

wificonfig mode ap 2

Configures the receiver as AP with AP profile 2

wificonfig state enabled

Enables Wi-Fi as an AP (since the mode is set to AP)

wificonfig state disabled

Disables Wi-Fi

wificonfig state off

Completely powers off 802.11 chip

ASCII Examples (client):
WIFICONFIG MODE CLIENT

Configures the receiver as a client

WIFICONFIG STATE ENABLED

Enables Wi-Fi as a client (since the mode is set to client)

WIFICONFIG STATE DISABLED

Disables Wi-Fi

WIFICONFIG STATE OFF

Completely powers off 802.11 chip

Changing the Wi-Fi mode (from AP to Client or Client to AP) resets the Wi-Fi and Bluetooth
radio. Any active Bluetooth connections are terminated.

OEM6 Firmware Reference Manual Rev 12

344

Commands

Field

Chapter 2

ASCII
Value

Field Type

Binary
Value

Description

Format

-

This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively

MODE

1

Set the operating mode of the Wi-Fi radio

STATE

4

Set the state of the Wi-FI radio

Binary
Bytes

Binary
Offset

1

WIFICONFIG
header

2

wificonfiguration

3

parameter 1

The valid values for parameter 1 depend on whether MODE
String
or STATE was selected. See Table 76, WIFICONFIG
[32]
Parameters on page 345

variablea H + 4

4

parameter 2

The valid values for parameter 2 depend on whether MODE
String
or STATE was selected. See Table 76, WIFICONFIG
[32]
Parameters on page 345

variablea variable

Enum

H

0

4

H

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

Table 76: WIFICONFIG Parameters
wificonfiguration

Parameter 1 Parameter 2
String
String

MODE

CLIENT

MODE

AP

N/A

Sets the Wi-Fi radio to Client mode (802.11 STA)

1

Sets the Wi-Fi radio to AP mode (802.11 Infrastructure
Access Point) and selects the AP Profile.

2
3
4

STATE
STATE

STATE

ENABLED
(default)
DISABLED

OFFa

Description

The AP Profile can be 1, 2, 3 or 4. The default value for
the AP Profile is 1.
Enables the MODE, Wi-Fi radio is active

N/A

Powers on the 802.11 hardware, if it was powered off
using STATE OFF

N/A

Disables the MODE, Wi-Fi radio is inactive

N/A

Disables the MODE, Wi-Fi radio is inactive, 802.11
hardware powered off
The 802.11 firmware is reset the next time the Wi-Fi radio
is powered on

a. Typically, DISABLED is used rather than OFF.
OFF is required only if there is a specific need to power off the 802.11 hardware.

OEM6 Firmware Reference Manual Rev 12

345

Chapter 3
3.1

Data Logs

Log Types
See the LOG command on page 192, for details about requesting logs.
The receiver is capable of generating three type of logs: synchronous, asynchronous and polled. The data for
synchronous logs is generated on a regular schedule. In order to output the most current data as soon as it is
available, asynchronous data is generated at irregular intervals. The data in polled logs is generated on
demand. The following table outlines the log types and the valid triggers to use:
Table 77: Log Type Triggers
Type

Recommended Trigger

Illegal Trigger

Synch

ONTIME

ONNEW, ONCHANGED

Asynch

ONCHANGED or ONCE

-

Polled

ONCE or ONTIME a

ONNEW, ONCHANGED

a. Polled log types do not allow fractional offsets and cannot do ontime rates faster than 1 Hz.

See Section 1.5, Message Time Stamps on page 33 for information about how the message time stamp is
set for each type of log.
1. The OEM6 family of receivers can handle 64 logs at a time. If an attempt is made to log
more than 64 logs at a time, the receiver responds with an Insufficient Resources error.
2. The following logs do not support the ONNEXT trigger: GPSEPHEM, RAWEPHEM,
RAWGPSSUBFRAME, RAWSBASFRAME, RXSTATUSEVENT and SBAS9.
3. Asynchronous logs, such as MATCHEDPOS, should only be logged ONCHANGED.
Otherwise, the most current data is not output when it is available. This is especially true of
the ONTIME trigger, which may result in inaccurate time tags.
4. Use the ONNEW trigger with the MARKTIME or MARKPOS logs.
5. Before the output of fields for ASCII and binary logs, there is an ASCII or binary header
respectively. See Table 2, ASCII Message Header Structure on page 21 and Table 3,
Binary Message Header Structure on page 23. There is no header information before
Abbreviated ASCII output, see page 22.

OEM6 Firmware Reference Manual Rev 12

346

Data Logs

3.1.1

Chapter 3

Log Type Examples

For polled logs, the receiver only supports an offset that is:
•

smaller than the logging period

•

decimal values that are a multiple of the maximum logging rate defined by the receiver model. For
more information see the LOG command on page 192.

The following are valid examples for a polled log:
log comconfig ontime 2 1
log portstats ontime 4 2
log version once
For polled logs, the following examples are invalid:
log comconfig ontime 1 2

[offset is larger than the logging period]

log comconfig ontime 4 1.5

[offset is not an integer]

For synchronous and asynchronous logs, the receiver supports any offset that is:
•

smaller than the logging period

•

a multiple of the minimum logging period

For example, if the receiver supports 20 Hz logging, the minimum logging period is 1/20 Hz or 0.05 s. The
following are valid examples for a synchronous or asynchronous log, on a receiver that can log at rates up to
20 Hz:
log bestpos ontime 1

[1 Hz]

log bestpos ontime 1 0.1
log bestpos ontime 1 0.90
log avepos ontime 1 0.95
log avepos ontime 2

[0.5 Hz]

log avepos ontime 2 1.35
log avepos ontime 2 1.75
For synchronous and asynchronous logs, the following examples are invalid:
log bestpos ontime 1 0.08

[offset is not a multiple of the minimum logging period]

log bestpos ontime 1 1.05

[offset is larger than the logging period]

OEM6 Firmware Reference Manual Rev 12

347

Data Logs

3.2

Chapter 3

Log Reference
Table 78: OEM6 Logs Sorted by Function
Log

Description

Type

General Receiver Control and Status
APPLICATIONSTATUS

Provides application status information

Asynch

AUTHCODES

Contains all authorization codes (auth codes) entered into the
system since the last complete firmware reload

Polled

BLUETOOTHSTATUS

Bluetooth radio module status

Asynch

CELLULARINFO

Cellular modem and network information

Asynch

CELLULARSTATUS

Cellular modem and network status information

Asynch

DIRENT

Onboard memory file list

Polled

ETHSTATUS

Current Ethernet status

Asynch

HWMONITOR

Monitor hardware levels

Polled

IPSTATS

IP statistics

Polled

IPSTATUS

Current network configuration status

Asynch

LOGFILESTATUS

Current state of file and recording

Asynch

LOGLIST

List of system logs

Polled

MODELFEATURES

States features available for current loaded model

Static

PASSAUX, PASSCOM1,
PASSCOM2, PASSCOM3,
PASSCOM4, PASSCOM5,
PASSCOM6, PASSCOM7,
PASSCOM8, PASSCOM9,
PASSCOM10, PASSETH1,
PASSICOM1, PASSICOM2,
PASSICOM3, PASSNCOM1,
PASSNCOM2, PASSNCOM3,
PASSUSB1, PASSUSB2,
PASSUSB3, PASSXCOM1,
PASSXCOM2, PASSXCOM3

Pass-through log that redirects data from one port to another port Asynch

PASSTHROUGH

Outputs pass-through data from all receiver ports

Asynch

PORTSTATS

Displays port statistics

Polled

PROFILEINFO

Outputs a list of profiles

Polled

RTCAOBS3

Proprietary message that carries dual-frequency GPS and GLO
measurements and is used in ALIGN. Also carries SBAS
Synch
measurements if the Master receiver is single-frequency (L1-only)
receiver to enable SBAS-ALIGN at the L1-only ALIGN Rover

RXCONFIG

Receiver configuration status

Polled

RXSTATUS

Self-test status

Asynch

OEM6 Firmware Reference Manual Rev 12

348

Data Logs

Chapter 3
Log

Description

Type

RXSTATUSEVENT

Status event indicator

Asynch

SOURCETABLE

Outputs the NTRIP source table entries from the NTRIPCASTER
Synch
set by the NTRIPSOURCETABLE command

VALIDMODELS

Model and expiry date information for receiver

Asynch

VERSION

Receiver hardware and software version numbers

Polled

WIFIAPSTATUS

Wi-Fi Access Point Status

Asynch

WIFICLISCANRESULTS

Wi-Fi AP scan results

Asynch

WIFICLISTATUS

Wi-Fi client connection status

Asynch

Position, Parameters and Solution Filtering Control
ALIGNBSLNXYZ

Outputs the RTK quality XYZ baselines from ALIGN.

Asynch

ALIGNBSLNENU

Outputs the RTK quality ENU baselines from ALIGN. The XYZ
baselines (output in ALIGNBSLNXYZ log) are rotated relative to
master position (output in MASTERPOS) to compute ENU
baselines

Asynch

ALIGNDOP

Outputs the DOP computed using the satellites used in solution

Asynch

AVEPOS

Position averaging log

Asynch

BESTPOS a

Best position data

Synch

BESTUTM

Best available UTM data

Synch

BESTXYZ

Cartesian coordinates position data

Synch

BSLNXYZ

RTK XYZ baseline

Synch

GALIONO

Decoded Galileo ionospheric corrections

Asynch

GPGGA

NMEA, fix and position data

Synch

GPGGALONG

GPS Fix Data, Extra Precision and undulation

Synch

GPGGARTK

NMEA, global position system fix data

Synch

GPGLL

NMEA, position data

Synch

GPGRS

NMEA, range residuals

Synch

GPGSA

NMEA, DOP information

Synch

GPGST

NMEA, measurement noise statistics

Synch

GPHDT

NMEA, heading from True North

Asynch

HEADING

Heading information with the ALIGN feature

Asynch

HEADING2

Outputs same information as HEADING log with an additional
Rover ID field

Asynch

HEADINGRATE

Provides rate of change for the heading parameters

Asynch

HEADINGSATS

Outputs the satellite information from ALIGN filter

Asynch

OEM6 Firmware Reference Manual Rev 12

349

Data Logs

Chapter 3
Log

Description

Type

IONUTC

Ionospheric and UTC model information

Asynch

MARKPOS, MARK2POS,
MARK3POS, MARK4POS

Position at time of mark input event

Asynch

MARKTIME, MARK2TIME,
MARK3TIME, MARK4TIME

Time of mark input event

Asynch

MASTERPOS

Displays the master position with the ALIGN feature

Asynch

MATCHEDPOSa

Computed position

Asynch

MATCHEDXYZ

Cartesian coordinates computed position data

Asynch

OMNIHPPOS

OmniSTAR HP/XP/G2 position data

Synch

PDPPOS

PDP filter position

Synch

PDPVEL

PDP filter velocity

Synch

PDPXYZ

PDP filter Cartesian position and velocity

Synch

PPPPOS

PPP filter position

Synch

PSRDOP

DOP of SVs currently tracking

Asynch

RAIMSTATUS

RAIM status

Synch

ROVERPOS

Displays the rover position with the ALIGN feature

Asynch

RTKASSISTSTATUS

Status of RTK ASSIST

Asynch

RTKDOP

Values from the RTK fast filter

Synch

RTKDOP2

Values from the RTK fast filter

Synch

RTKPOSa

RTK low latency position

Synch

RTKVELb

RTK velocity

Synch

RTKXYZ

RTK Cartesian coordinate position

Synch

Waypoint Navigation
BESTPOS

Best position data

Synch

BESTVEL b

Velocity data

Synch

GPHDT

NMEA, heading from True North

Asynch

GPRMB

NMEA, waypoint status

Synch

GPRMC

NMEA, navigation information

Synch

GPVTG

NMEA, track made good and speed

Synch

NAVIGATE

Navigation waypoint status

Synch

Clock Information, Status and Time
CLOCKMODEL

Range bias information

Synch

CLOCKSTEERING

Clock steering status

Asynch

OEM6 Firmware Reference Manual Rev 12

350

Data Logs

Chapter 3
Log

Description

Type

GALCLOCK

Galileo time information

Asynch

GLOCLOCK

GLONASS clock information

Asynch

GPZDA

NMEA, UTC time and data

Synch

MARK1COUNT

Count for the Mark1 input

Asynch

MARK2COUNT

Count for the Mark2 input

Asynch

MARK3COUNT

Count for the Mark3 input

Asynch

MARK4COUNT

Count for the Mark4 input

Asynch

PSRTIME

Time offsets from the pseudorange filter

Synch

TIME

Receiver time information

Synch

TIMESYNC

Synchronize time between receivers

Synch

Post-Processing Data
GPSEPHEM

Decoded GPS ephemeris information

Asynch

IONUTC

Ionospheric and UTC model information

Asynch

RANGE

Satellite range information

Synch

RANGECMP

Compressed version of the RANGE log

Synch

RANGECMP2

RANGE data compressed to handle more channels and types

Synch

RANGEGPSL1

L1 version of the RANGE log

Synch

RAWEPHEM

Raw ephemeris

Asynch

TIME

Receiver clock offset information

Synch

Satellite Tracking and Channel Control
ALMANAC

Current decoded almanac data

BDSALMANAC

Decoded almanac parameters as received from the satellite, with
Asynch
the parity information removed and appropriate scaling applied

BDSCLOCK

Time parameters transmitted by the BeiDou satellites

Asynch

BDSEPHEMERIS

A single set of BDS ephemeris parameters

Asynch

BDSIONO

Contains the Klobuchar ionosphere model parameters
transmitted by the BeiDou satellites

Asynch

BDSRAWNAVSUBFRAME

Log contains single set of BDS ephemeris parameters

Asynch

BESTSATS

Satellites used in BESTPOS

Synch

CHANCONFIGLIST

Channel configuration list

Polled

GALALMANAC

Decoded Galileo almanac parameters from Galileo navigation
messages

Asynch

GALEPHEMERIS

Galileo ephemeris information is available through the
GALEPHEMERIS log

Asynch

OEM6 Firmware Reference Manual Rev 12

Asynch

351

Data Logs

Chapter 3
Log

Description

Type

GALFNAVEPHEMERIS

Decoded Galileo FNAV ephemeris

Asynch

GALFNAVRAWPAGE

Contains the raw Galileo F/Nav page data

Asynch

GALINAVEPHEMERIS

Decoded Galileo INAV ephemeris

Asynch

GALINAVRAWWORD

Contains the raw Galileo I/Nav word data

Asynch

GLMLA

NMEA GLONASS almanac data

Asynch

GLOALMANAC

GLONASS almanac data

Asynch

GLOEPHEMERIS

GLONASS ephemeris data

Asynch

GLORAWALM

Raw GLONASS almanac data

Asynch

GLORAWEPHEM

Raw GLONASS ephemeris data

Asynch

GLORAWFRAME

Raw GLONASS frame data

Asynch

GLORAWSTRING

Raw GLONASS string data

Asynch

GPALM

NMEA, almanac data

Asynch

GPGSA

NMEA, SV DOP information

Synch

GPGSV

NMEA, satellite-in-view information

Synch

GPSEPHEM

Decoded GPS ephemeris information

Asynch

LBANDBEAMTABLE

List of L-Band Beams

Asynch

LBANDTRACKSTAT

L-Band Tracking Status

Synch

MATCHEDSATS

Lists the used and unused satellites for the corresponding
MATCHEDPOS solution

Asynch

OMNIHPSATS

Satellites used in the OMNIHPPOS solution

Synch

OMNIVIS

OmniSTAR satellite visibility list

Synch

PDPSATS

Satellites used in PDPPOS solution

Synch

PSRDOP

DOP of SVs currently tracking

Asynch

PSRDOP2

Pseudorange Least Squares DOP

Asynch

PSRSATS

Satellites used in PSRPOS solution

Synch

QZSSALMANAC

Contains the decoded almanac parameters as received from the
satellite with the parity information removed and appropriate
Asynch
scaling applied

QZSSEPHEMERIS

Single set of QZSS ephemeris parameters

Asynch

QZSSIONUTC

Ionospheric Model parameters (ION) and the Universal Time
Coordinated parameters (UTC) for QZSS are provided

Asynch

QZSSRAWALMANAC

Contains the undecoded almanac subframes as received from the
Asynch
QZSS satellite

QZSSRAWEPHEM

Contains the raw binary information for subframes one, two and
three from the satellite with the parity information removed

OEM6 Firmware Reference Manual Rev 12

Asynch

352

Data Logs

Chapter 3
Log

Description

Type

QZSSRAWSUBFRAME

A raw QZSS subframe is 300 bits in total, includes the parity bits
which are interspersed with the raw data ten times, in six bit
Asynch
chunks, for a total of 60 parity bits

RANGE

Satellite range information

Synch

RANGEGPSL1

L1 version of the RANGE log

Synch

RAWALM

Raw GPS almanac

Asynch

RAWCNAVFRAME

Raw GPS L2C frame data

Asynch

RAWEPHEM

Raw GPS ephemeris

Asynch

RAWGPSSUBFRAME

Raw GPS subframe data

Asynch

RAWGPSWORD

Raw GPS navigation word

Asynch

RAWSBASFRAME

Raw SBAS frame data

Asynch

RTKSATS

Satellites used in RTKPOS solution

Synch

SATVIS

Satellite visibility

Synch

SATVIS2

Satellite visibility

Asynch

SATXYZ2

Combined with a RANGE log, contains the decoded satellite
information necessary to compute the solution

Synch

SBAS0

Removes PRN from the solution

Asynch

SBAS1

PRN mask assignments

Asynch

SBAS2

Fast correction slots 0-12

Asynch

SBAS3

Fast correction slots 13-25

Asynch

SBAS4

Fast correction slots 26-38

Asynch

SBAS5

Fast correction slots 39-50

Asynch

SBAS6

Integrity message

Asynch

SBAS7

Fast correction degradation

Asynch

SBAS9

GEO navigation message

Asynch

SBAS10

Degradation factor

Asynch

SBAS12

SBAS network time and UTC

Asynch

SBAS17

GEO almanac message

Asynch

SBAS18

IGP mask

Asynch

SBAS24

Mixed fast/slow corrections

Asynch

SBAS25

Long-term slow satellite corrections

Asynch

SBAS26

Ionospheric delay corrections

Asynch

SBAS27

SBAS service message

Asynch

SBAS32

Fast correction slots 0-10

Asynch

OEM6 Firmware Reference Manual Rev 12

353

Data Logs

Chapter 3
Log

Description

Type

SBAS33

Fast correction slots 11-21

Asynch

SBAS34

Fast correction slots 22-32

Asynch

SBAS35

Fast correction slots 39-50

Asynch

SBAS45

Slow corrections

Asynch

SBASALMANAC

A collection of all current SBAS almanacs decoded by the receiver Asynch

SBASCORR

SBAS range corrections used

Synch

SOFTLOADSTATUS

Describes the status of the SoftLoad process

Asynch

TERRASTARINFO

TerraStar Subscription Information

Asynch

TERRASTARSTATUS

TerraStar Decoder and Subscription Status

Asynch

TRACKSTAT

Satellite tracking status

Synch

VERIPOSINFO

Veripos Subscription Information

Asynch

VERIPOSSTATUS

Veripos Decoder and Subscription Status

Asynch

Differential Base Station
ALMANAC

Current almanac information

Asynch

BESTPOS

Best position data

Synch

BESTVEL

Velocity data

Synch

BSLNXYZ

RTK XYZ baseline

Asynch

GPGGA

NMEA, position fix data

Synch

GPGGARTK

NMEA, global position system fix data

Synch

LBANDINFO

L-Band configuration information

Asynch

LBANDSTAT

L-Band status information

Synch

MATCHEDPOS

Computed position – Time Matched

Asynch

OMNIHPPOS

OmniSTAR HP/XP/G2 position data

Synch

PSRPOS

Pseudorange position

Synch

PSRVEL

Pseudorange velocity

Synch

RANGE

Satellite range information

Synch

RANGECMP

Compressed version of the RANGE log

Synch

RAWLBANDFRAME

Raw L-Band frame data

Asynch

RAWLBANDPACKET

Raw L-Band data packet

Asynch

REFSTATION

Base station position and health

Asynch

REFSTATIONINFO

Reference station position and health

Asynch

RTCA1

Type 1 Differential GPS corrections

Synch

RTCAEPHEM

Type 7 Ephemeris and time information

Synch

OEM6 Firmware Reference Manual Rev 12

354

Data Logs

Chapter 3
Log

Description

Type

RTCAOBS

Type 7 Base Station observations

Synch

RTCAOBS2

Type 7 Base Station observations 2

Synch

RTCAREF

Type 7 Base Station parameters

Synch

RTCAREFEXT

Type 7 Extended Base Station parameters

Synch

RTKPOS

RTK low latency position

Synch

a. The RTK system in the receiver provides two kinds of position solutions. The Matched RTK position is computed with
buffered observations, so there is no error due to the extrapolation of base station measurements. This provides the
highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the
differential data link. The MATCHEDPOS log contains the matched RTK solution and can be generated for each
processed set of base station observations.
The Low-Latency RTK position is computed from the latest local observations and extrapolated base station
observations. This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy.
The degradation in accuracy is reflected in the standard deviation and is summarized in An Introduction to GNSS,
available on our website at www.novatel.com. The amount of time that the base station observations are extrapolated
is in the "differential age" field of the position log. The Low-Latency RTK system extrapolates for 60 seconds. The
RTKPOS log contains the Low-Latency RTK position when valid, and an "invalid" status when a Low-Latency RTK
solution could not be computed. The BESTPOS log contains either the low-latency RTK, PPP, OmniSTAR HP/XP or
pseudorange-based position, whichever has the smallest standard deviation.
b. In the velocity logs, the actual speed and direction of the receiver antenna over ground is provided. The receiver
does not determine the direction a vessel, craft of vehicle is pointed (heading) but rather the direction of motion of the
GNSS antenna, relative to ground.

Table 79: OEM6 Logs in Alphabetical Order
Log

Message ID

Description

ALIGNBSLNENU

1315

Outputs the RTK quality ENU baselines from ALIGN

ALIGNBSLNXYZ

1314

Outputs the RTK quality XYZ baselines from ALIGN

ALIGNDOP

1332

Outputs the DOP computed using the satellites used in solution

ALMANAC

73

Current almanac information

APPLICATIONSTATUS

520

Provides application status information

AUTHCODES

1348

Contains all authorization codes (auth codes) entered into the
system since the last complete firmware reload

AVEPOS

172

Position averaging

BDSALMANAC

1584

Decoded almanac parameters as received from the satellite,
with the parity information removed and appropriate scaling
applied

BDSCLOCK

1607

Time parameters transmitted by the BeiDou satellites

BDSEPHEMERIS

1696

A single set of BDS ephemeris parameters

BDSIONO

1590

Contains the Klobuchar ionosphere model parameters
transmitted by the BeiDou satellites

BDSRAWNAVSUBFRAME

1695

Log contains single set of BDS ephemeris parameters

OEM6 Firmware Reference Manual Rev 12

355

Data Logs

Chapter 3
Log

Message ID

Description

BESTPOS

42

Best position data

BESTSATS

1194

Satellites used in BESTPOS

BESTUTM

726

Best available UTM data

BESTVEL

99

Velocity data

BESTXYZ

241

Cartesian coordinate position data

BLUETOOTHSTATUS

1608

Bluetooth radio module status

BSLNXYZ

686

RTK XYZ baseline

CELLULARINFO

1686

Cellular modem and network information

CELLULARSTATUS

1685

Cellular modem and network status information

CHANCONFIGLIST

1148

Channel configuration list

CLOCKMODEL

16

Current clock model matrices

CLOCKSTEERING

26

Clock steering status

DIRENT

159

Onboard memory file list

ETHSTATUS

1288

Current Ethernet status

GALALMANAC

1120

Decoded Galileo almanac parameters from Galileo navigation
messages

GALCLOCK

1121

Galileo time information

GALEPHEMERIS

1122

Galileo ephemeris information is available through the
GALEPHEMERIS log

GALFNAVEPHEMERIS

1310

Decoded Galileo FNAV ephemeris

GALFNAVRAWPAGE

1413

Contains the raw Galileo F/Nav page data

GALINAVEPHEMERIS

1309

Decoded Galileo INAV ephemeris

GALINAVRAWWORD

1414

Contains the raw Galileo I/Nav word data

GALIONO

1127

Decoded Galileo ionospheric corrections

GLOALMANAC

718

GLONASS almanac data

GLOCLOCK

719

GLONASS clock information

GLOEPHEMERIS

723

GLONASS ephemeris data

GLORAWALM

720

Raw GLONASS almanac data

GLORAWEPHEM

792

Raw GLONASS ephemeris data

GLORAWFRAME

721

Raw GLONASS frame data

GLORAWSTRING

722

Raw GLONASS string data

GPSEPHEM

7

GPS ephemeris data

OEM6 Firmware Reference Manual Rev 12

356

Data Logs

Chapter 3
Log

Message ID

Description

HEADING

971

Heading information with the ALIGN feature

HEADING2

1335

Outputs same information as HEADING log with an additional
Rover ID field

HEADINGRATE

1698

Provides rate of change for the heading parameters

HEADINGSATS

1316

Outputs the satellite information from ALIGN filter

HWMONITOR

963

Monitor hardware levels

IONUTC

8

Ionospheric and UTC model information

IPSTATS

1669

IP statistics

IPSTATUS

1289

Current network configuration status

LBANDBEAMTABLE

1718

List of L-Band Beams

LBANDINFO

730

L-Band configuration information

LBANDSTAT

731

L-Band status information

LBANDTRACKSTAT

1201

L-Band Tracking Status

LOGFILESTATUS

1146

Current state of file and recording

LOGLIST

5

A list of system logs

MARK1COUNT

1093

Count for the Mark1 input

MARK2COUNT

1094

Count for the Mark2 input

MARK3COUNT

1095

Count for the Mark3 input

MARK4COUNT

1096

Count for the Mark4 input

MARKPOS

181

Position at time of Mark1 input event

MARK2POS

615

Position at time of Mark2 input event

MARK3POS

1738

Position at time of Mark3 input event

MARK4POS

1739

Position at time of Mark4 input event

MARKTIME

231

Time of mark1 input event

MARK2TIME

616

Time of mark2 input event

MARK3TIME

1075

Time of mark3 input event

MARK4TIME

1076

Time of mark4 input event

MASTERPOS

1051

Displays master position with the ALIGN feature

MATCHEDPOS

96

RTK Computed Position – Time Matched

MATCHEDSATS

1176

Lists the used and unused satellites for the corresponding
MATCHEDPOS solution

MATCHEDXYZ

242

RTK Time Matched cartesian coordinate position data

OEM6 Firmware Reference Manual Rev 12

357

Data Logs

Chapter 3
Log

Message ID

Description

MODELFEATURES

1329

States features available for current loaded model

NAVIGATE

161

Navigation waypoint status

NOVATELXOBS

1618

NovAtel proprietary RTK correction

NOVATELXREF

1620

NovAtel proprietary reference station message for use in ALIGN

OMNIHPPOS

495

OmniSTAR HP/XP/G2 position data

OMNIHPSATS

1197

Satellites used in the OMNIHPPOS solution

OMNIVIS

860

OmniSTAR satellite visibility list

PASSAUX

690

Pass-through log

PASSCOM1

233

Pass-through log

PASSCOM2

234

Pass-through log

PASSCOM3

235

Pass-through log

PASSCOM4

1384

Pass-through log

PASSCOM5

1576

Pass-through log

PASSCOM6

1577

Pass-through log

PASSCOM7

1701

Pass-through log

PASSCOM8

1702

Pass-through log

PASSCOM9

1703

Pass-through log

PASSCOM10

1704

Pass-through log

PASSETH1

1209

Pass-through log

PASSICOM1

1250

Pass-through log

PASSICOM2

1251

Pass-through log

PASSICOM3

1252

Pass-through log

PASSNCOM1

1253

Pass-through log

PASSNCOM2

1254

Pass-through log

PASSNCOM3

1255

Pass-through log

PASSUSB1

607

Pass-through log

PASSUSB2

608

Pass-through log

PASSUSB3

609

Pass-through log

PASSXCOM1

405

Pass-through log

PASSXCOM2

406

Pass-through log

PASSXCOM3

795

Pass-through log

OEM6 Firmware Reference Manual Rev 12

358

Data Logs

Chapter 3
Log

Message ID

Description

PASSTHROUGH

1342

Outputs pass-through data from all receiver ports

PDPPOS

469

PDP filter position

PDPSATS

1234

Satellites used in PDPPOS solution

PDPVEL

470

PDP filter velocity

PDPXYZ

471

PDP filter Cartesian position and velocity

PORTSTATS

72

COM or USB port statistics

PPPPOS

1538

PPP filter position

PPPSATS

1541

Satellites used in the PPPPOS solution

PROFILEINFO

1412

Outputs a list of profiles

PSRDOP

174

DOP of SVs currently tracking

PSRDOP2

1163

Pseudorange Least Squares DOP

PSRPOS

47

Pseudorange position information

PSRSATS

1162

Satellites used in PSRPOS solution

PSRTIME

881

Time offsets from the pseudorange filter

PSRVEL

100

Pseudorange velocity information

PSRXYZ

243

Pseudorange Cartesian coordinate position information

QZSSALMANAC

1346

Contains the decoded almanac parameters as received from the
satellite with the parity information removed and appropriate
scaling applied

QZSSEPHEMERIS

1336

Single set of QZSS ephemeris parameters

QZSSIONUTC

1347

Ionospheric Model parameters (ION) and the Universal Time
Coordinated parameters (UTC) for QZSS are provided

QZSSRAWALMANAC

1345

Contains the undecoded almanac subframes as received from
the QZSS satellite

QZSSRAWEPHEM

1330

Contains the raw binary information for subframes one, two and
three from the satellite with the parity information removed

QZSSRAWSUBFRAME

1330

A raw QZSS subframe is 300 bits in total, includes the parity bits
which are interspersed with the raw data ten times, in six bit
chunks, for a total of 60 parity bits

RAIMSTATUS

1286

RAIM status

RANGE

43

Satellite range information

RANGECMP

140

Compressed version of the RANGE log

RANGECMP2

1273

RANGE data compressed to handle more channels and types

RANGEGPSL1

631

L1 version of the RANGE log

OEM6 Firmware Reference Manual Rev 12

359

Data Logs

Chapter 3
Log

Message ID

Description

RAWALM

74

Raw almanac

RAWCNAVFRAME

1066

Raw GPS L2C frame data

RAWEPHEM

41

Raw GPS ephemeris

RAWGPSSUBFRAME

25

Raw GPS subframe data

RAWGPSWORD

407

Raw GPS navigation word

RAWLBANDFRAME

732

Raw L-Band frame data

RAWLBANDPACKET

733

Raw L-Band data packet

RAWSBASFRAME

973

Raw SBAS frame data

REFSTATION

175

Base station position and health

REFSTATIONINFO

1325

Reference station position and health information

ROVERPOS

1052

Displays over position with the ALIGN feature

RTKASSISTSTATUS

2048

Status of RTK ASSIST

RTKDOP

952

Values from the RTK fast filter

RTKDOP2

1172

Values from the RTK fast filter

RTKPOS

141

RTK low latency position data

RTKSATS

1174

Satellites used in RTKPOS solution

RTKVEL

216

RTK velocity

RTKXYZ

244

RTK Cartesian coordinate position data

RXCONFIG

128

Receiver configuration status

RXSTATUS

93

Self-test status

RXSTATUSEVENT

94

Status event indicator

SATVIS

48

Satellite visibility

SATVIS2

1043

Satellite visibility

SATXYZ2

1451

Combined with a RANGE log, this data set contains the decoded
satellite information necessary to compute the solution

SBAS0

976

Remove PRN from the solution

SBAS1

977

PRN mask assignments

SBAS2

982

Fast correction slots 0-12

SBAS3

987

Fast correction slots 13-25

SBAS4

992

Fast correction slots 26-38

SBAS5

994

Fast correction slots 39-50

SBAS6

995

Integrity message

OEM6 Firmware Reference Manual Rev 12

360

Data Logs

Chapter 3
Log

Message ID

Description

SBAS7

996

Fast correction degradation

SBAS9

997

GEO navigation message

SBAS10

978

Degradation factor

SBAS12

979

SBAS network time and UTC

SBAS17

980

GEO almanac message

SBAS18

981

IGP mask

SBAS24

983

Mixed fast/slow corrections

SBAS25

984

Long term slow satellite corrections

SBAS26

985

Ionospheric delay corrections

SBAS27

986

SBAS service message

SBAS32

988

Fast correction slots 0-10

SBAS33

989

Fast correction slots 11-21

SBAS34

990

Fast correction slots 22-32

SBAS35

991

Fast correction slots 39-50

SBAS45

993

Slow corrections

SBASALMANAC

1425

A collection of all current SBAS almanacs decoded by the
receiver

SBASCORR

998

SBAS range corrections used

SOFTLOADSTATUS

1235

Describes the status of the SoftLoad process

SOURCETABLE

1344

Outputs the NTRIP source table entries from the
NTRIPCASTER set by the NTRIPSOURCETABLE command

TERRASTARINFO

1719

TerraStar Subscription Information

TERRASTARSTATUS

1729

TerraStar Decoder and Subscription Status

TIME

101

Receiver time information

TIMESYNC

492

Synchronize time between receivers

TRACKSTAT

83

Satellite tracking status

VALIDMODELS

206

Model and expiry date information for receiver

VERIPOSINFO

1728

Veripos Subscription Information

VERIPOSSTATUS

1730

Veripos Decoder and Subscription Status

VERSION

37

Receiver hardware and software version numbers

WIFIAPSTATUS

1666

Wi-Fi Access Point Status

WIFICLISCANRESULTS

1616

Wi-Fi AP scan results

OEM6 Firmware Reference Manual Rev 12

361

Data Logs

Chapter 3
Log

WIFICLISTATUS

Message ID
1613

Description
Wi-Fi client connection status
CMR Format Logs a

CMRDESC

310

Base station description information

CMRGLOOBS

882

CMR Type 3 GLONASS observations

CMROBS

103

Base station satellite observation information

CMRPLUS

717

Base station position information (low rate)

CMRREF

105

Base station position information
RTCA FORMAT LOGS a

RTCA1

10

Type 1 Differential GPS corrections

RTCAEPHEM

347

Type 7 Ephemeris and time information

RTCAOBS

6

Type 7 Base Station observations

RTCAOBS2

805

Type 7 Base Station observations II

RTCAOBS3

1340

Proprietary message that carries dual-frequency GPS and GLO
measurements and is used in ALIGN. Also carries SBAS
measurements if the Master receiver is single-frequency (L1only) receiver to enable SBAS-ALIGN at the L1-only ALIGN
Rover

RTCAREF

11

Type 7 Base Station parameters

RTCAREFEXT

1049

Type 7 Extended Base Station parameters
RTCM FORMAT LOGS a

RTCM1

107

Type 1 Differential GPS corrections

RTCM3

117

Type 3 Base Station parameters

RTCM9

275

Type 9 Partial Differential GPS corrections

RTCM15

307

Type 15 Ionospheric corrections

RTCM16

129

Type16 Special message

RTCM16T

131

Type16T Special text message

RTCM1819

260

Type18 and Type 19 raw measurements

RTCM2021

374

Type 20 and Type 21 measurement corrections

RTCM22

118

Type 22 Extended Base Station parameters

RTCM23

665

Type 23 Antenna type definition

RTCM24

667

Type 24 Antenna Reference Point (ARP)

RTCM31

864

Type 31 Differential GLONASS corrections

OEM6 Firmware Reference Manual Rev 12

362

Data Logs

Chapter 3
Log

Message ID

Description

RTCM32

873

Type 32 GLONASS Base Station parameters

RTCM36

875

Type 36 Special message

RTCM36T

877

Type 36T Special text message

RTCM59

116

Type 59N-0 NovAtel Proprietary: RT20 Differential

RTCM59GLO

903

NovAtel proprietary GLONASS differential

RTCMOMNI1

957

RTCM1 from OmniSTAR
RTCMV3 FORMAT LOGS a

RTCM1001

772

L1-Only GPS RTK Observables

RTCM1002

774

Extended L1-Only GPS RTK Observables

RTCM1003

776

L1/L2 GPS RTK Observables

RTCM1004

770

Extended L1/L2 GPS RTK Observables

RTCM1005

765

RTK Base Station ARP

RTCM1006

768

RTK Base Station ARP with Antenna Height

RTCM1007

852

Extended Antenna Descriptor and Setup

RTCM1008

854

Extended Antenna Reference Station Description and serial
number

RTCM1009

885

GLONASS L1-Only RTK

RTCM1010

887

Extended GLONASS L1-Only RTK

RTCM1011

889

GLONASS L1/L2 RTK

RTCM1012

891

Extended GLONASS L1/L2 RTK

RTCM1019

893

GPS Ephemerides

RTCM1020

895

GLONASS Ephemerides

RTCM1033

1097

Receiver and antenna descriptors
NMEA Format Data Logs

GLMLA

859

NMEA GLONASS almanac data

GPALM

217

Almanac Data

GPGGA

218

GPS Fix Data and undulation

GPGGALONG

521

GPS Fix Data, Extra Precision and undulation

GPGGARTK

259

GPS Fix Data with Extra Precision

GPGLL

219

Geographic Position - latitude/longitude

GPGRS

220

GPS Range Residuals for Each Satellite

OEM6 Firmware Reference Manual Rev 12

363

Data Logs

Chapter 3
Log

Message ID

Description

GPGSA

221

GPS DOP and Active Satellites

GPGST

222

Pseudorange Measurement Noise Statistics

GPGSV

223

GPS Satellites in View

GPHDT

1045

Heading in Degrees True

GPRMB

224

Generic Navigation Information

GPRMC

225

GPS Specific Information

GPVTG

226

Track Made Good and Ground Speed

GPZDA

227

UTC Time and Date

a. CMR, RTCA, and RTCM logs may be logged with an A or B extension to give an ASCII or Binary output with a
NovAtel header followed by Hex or Binary data respectively

Table 80: OEM6 Logs by Message ID
Message ID

Log

Description

5

LOGLIST

A list of system logs

7

GPSEPHEM

GPS ephemeris data

8

IONUTC

Ionospheric and UTC model information

16

CLOCKMODEL

Current clock model matrices

25

RAWGPSSUBFRAME

Raw GPS subframe data

26

CLOCKSTEERING

Clock steering status

37

VERSION

Receiver hardware and software version numbers

41

RAWEPHEM

Raw GPS ephemeris

42

BESTPOS

Best position data

43

RANGE

Satellite range information

47

PSRPOS

Pseudorange position information

48

SATVIS

Satellite visibility

72

PORTSTATS

COM or USB port statistics

73

ALMANAC

Current almanac information

74

RAWALM

Raw GPS almanac

83

TRACKSTAT

Satellite tracking status

93

RXSTATUS

Self-test status

94

RXSTATUSEVENT

Status event indicator

96

MATCHEDPOS

RTK Computed Position – Time Matched

OEM6 Firmware Reference Manual Rev 12

364

Data Logs

Chapter 3

Message ID

Log

Description

99

BESTVEL

Velocity data

100

PSRVEL

Pseudorange velocity information

101

TIME

Receiver time information

128

RXCONFIG

Receiver configuration status

140

RANGECMP

Compressed version of the RANGE log

141

RTKPOS

RTK low latency position data

159

DIRENT

Onboard memory file list

161

NAVIGATE

Navigation waypoint status

172

AVEPOS

Position averaging

174

PSRDOP

DOP of SVs currently tracking

175

REFSTATION

Base station position and health

181

MARKPOS

Position at time of mark1 input event

206

VALIDMODELS

Model and expiry date information for receiver

216

RTKVEL

RTK velocity

231

MARKTIME

Time of mark1 input event

233

PASSCOM1

Pass-through logs

234

PASSCOM2

Pass-through logs

235

PASSCOM3

Pass-through logs

241

BESTXYZ

Cartesian coordinate position data

242

MATCHEDXYZ

RTK Time Matched cartesian coordinate position data

243

PSRXYZ

Pseudorange cartesian coordinate position information

244

RTKXYZ

RTK cartesian coordinate position data

287

RAWSBASFRAME

Raw GPS SBAS frame data

405

PASSXCOM1

Pass-through logs

406

PASSXCOM2

Pass-through logs

407

RAWGPSWORD

Raw navigation word

469

PDPPOS

PDP filter position

470

PDPVEL

PDP filter velocity

471

PDPXYZ

PDP filter Cartesian position and velocity

492

TIMESYNC

Synchronize time between receivers

495

OMNIHPPOS

OmniSTAR HP/XP/G2 position data

OEM6 Firmware Reference Manual Rev 12

365

Data Logs

Chapter 3

Message ID

Log

Description

520

APPLICATIONSTATUS

Provides application status information

607

PASSUSB1

Pass-through logs (for receivers that support USB)

608

PASSUSB2

Pass-through logs (for receivers that support USB)

609

PASSUSB3

Pass-through logs (for receivers that support USB)

615

MARK2POS

Time of mark input2 event

616

MARK2TIME

Position at time of mark2 input event

631

RANGEGPSL1

L1 version of the RANGE log

686

BSLNXYZ

RTK XYZ baseline

690

PASSAUX

Pass-through log for AUX port

718

GLOALMANAC

GLONASS almanac data

719

GLOCLOCK

GLONASS clock information

720

GLORAWALM

Raw GLONASS almanac data

721

GLORAWFRAME

Raw GLONASS frame data

722

GLORAWSTRING

Raw GLONASS string data

723

GLOEPHEMERIS

GLONASS ephemeris data

726

BESTUTM

Best available UTM data

730

LBANDINFO

L-Band configuration information

731

LBANDSTAT

L-Band status information

732

RAWLBANDFRAME

Raw L-Band frame data

733

RAWLBANDPACKET

Raw L-Band data packet

792

GLORAWEPHEM

Raw GLONASS ephemeris data

795

PASSXCOM3

Pass through log

860

OMNIVIS

OmniSTAR satellite visibility list

881

PSRTIME

Time offsets from the pseudorange filter

952

RTKDOP

Values from the RTK fast filter

963

HWMONITOR

Monitor Hardware Levels

971

HEADING

Heading information with the ALIGN feature

973

RAWSBASFRAME

Raw SBAS frame data

976

SBAS0

Remove PRN from the solution

977

SBAS1

PRN mask assignments

978

SBAS10

Degradation factor

OEM6 Firmware Reference Manual Rev 12

366

Data Logs

Chapter 3

Message ID

Log

Description

979

SBAS12

SBAS network time and UTC

980

SBAS17

GEO almanac message

981

SBAS18

IGP mask

982

SBAS2

Fast correction slots 0-12

983

SBAS24

Mixed fast/slow corrections

984

SBAS25

Long term slow satellite corrections

985

SBAS26

Ionospheric delay corrections

986

SBAS27

SBAS service message

987

SBAS3

Fast correction slots 13-25

988

SBAS32

CDGPS Fast Corrections slots 0-10

989

SBAS33

CDGPS Fast Corrections slots 11-21

990

SBAS34

CDGPS Fast Corrections slots 22-32

991

SBAS35

CDGPS Fast Corrections slots 32-43

992

SBAS4

Fast correction slots 26-38

993

SBAS45

CDGPS Slow Corrections

994

SBAS5

Fast corrections slots 39-50

995

SBAS6

Integrity Message

996

SBAS7

Fast Correction Degradation

997

SBAS9

Geo Nav Message

998

SBASCORR

SBAS range corrections used

1201

LBANDTRACKSTAT

L-Band Tracking Status

1043

SATVIS2

Satellite visibility

1051

MASTERPOS

Displays the master position with the ALIGN feature

1052

ROVERPOS

Displays the rover position with the ALIGN feature

1066

RAWCNAVFRAME

Raw GPS L2C frame data

1075

MARK3TIME

Position at time of mark3 input event

1076

MARK4TIME

Position at time of mark4 input event

1093

MARK1COUNT

Count for the Mark1 input

1094

MARK2COUNT

Count for the Mark2 input

1095

MARK3COUNT

Count for the Mark3 input

1096

MARK4COUNT

Count for the Mark4 input

OEM6 Firmware Reference Manual Rev 12

367

Data Logs

Chapter 3

Message ID

Log

Description

1120

GALALMANAC

Decoded Galileo almanac parameters from Galileo navigation
messages

1121

GALCLOCK

Galileo time information

1122

GALEPHEMERIS

Galileo ephemeris information is available through the
GALEPHEMERIS log

1127

GALIONO

Decoded Galileo ionospheric corrections

1146

LOGFILESTATUS

Current state of file and recording

1148

CHANCONFIGLIST

Channel configuration list

1162

PSRSATS

Satellites used in PSRPOS solution

1163

PSRDOP2

Pseudorange least squares DOP

1172

RTKDOP2

Values from the RTK Fast Filter

1174

RTKSATS

Satellites used in RTKPOS solution

1176

MATCHEDSATS

Lists the used and unused satellites for the corresponding
MATCHEDPOS solution

1194

BESTSATS

Satellites used in BESTPOS

1197

OMNIHPSATS

Satellites used in the OMNIHPPOS solution

1209

PASSETH1

Pass through log

1234

PDPSATS

Satellites used in PDPPOS solution

1235

SOFTLOADSTATUS

Describes the status of the SoftLoad process

1250

PASSICOM1

Pass through log

1251

PASSICOM2

Pass through log

1252

PASSICOM3

Pass through log

1253

PASSNCOM1

Pass through log

1254

PASSNCOM2

Pass through log

1255

PASSNCOM3

Pass through log

1273

RANGECMP2

RANGE data compressed to handle more channels and types

1286

RAIMSTATUS

RAIM status

1288

ETHSTATUS

Current Ethernet status

1289

IPSTATUS

Current network configuration status

1309

GALINAVEPHEMERIS

Decoded Galileo INAV ephemeris

1301

GALFNAVEPHEMERIS

Decoded Galileo FNAV ephemeris

1314

ALIGNBSLNXYZ

Outputs the RTK quality XYZ baselines from ALIGN

OEM6 Firmware Reference Manual Rev 12

368

Data Logs

Chapter 3

Message ID

Log

Description

1315

ALIGNBSLNENU

Outputs the RTK quality ENU baselines from ALIGN

1316

HEADINGSATS

Outputs the satellite information from ALIGN filter

1325

REFSTATIONINFO

Reference station position and health information

1329

MODELFEATURES

States features available for current loaded model

1330

QZSSRAWEPHEM

Contains the raw binary information for subframes one, two and
three from the satellite with the parity information removed

1330

QZSSRAWSUBFRAME

A raw QZSS subframe is 300 bits in total, includes the parity bits
which are interspersed with the raw data ten times, in six bit
chunks, for a total of 60 parity bits

1332

ALIGNDOP

Outputs the DOP computed using the satellites used in solution

1335

HEADING2

Outputs same information as HEADING log with an additional
Rover ID field

1336

QZSSEPHEMERIS

Single set of QZSS ephemeris parameters

1340

RTCAOBS3

Proprietary message that carries dual-frequency GPS and GLO
measurements and is used in ALIGN. Also carries SBAS
measurements if the Master receiver is single-frequency (L1only) receiver to enable SBAS-ALIGN at the L1-only ALIGN
Rover

1342

PASSTHROUGH

Outputs pass-through data from all receiver ports

1344

SOURCETABLE

Outputs the NTRIP source table entries from the NTRIPCASTER
set by the NTRIPSOURCETABLE command

1345

QZSSRAWALMANAC

Contains the undecoded almanac subframes as received from
the QZSS satellite

1346

QZSSALMANAC

Contains the decoded almanac parameters as received from the
satellite with the parity information removed and appropriate
scaling applied

1347

QZSSIONUTC

Ionospheric Model parameters (ION) and the Universal Time
Coordinated parameters (UTC) for QZSS are provided

1348

AUTHCODES

Contains all authorization codes (auth codes) entered into the
system since the last complete firmware reload

1384

PASSCOM4

Pass through log

1412

PROFILEINFO

Outputs a list of Profiles

1413

GALFNAVRAWPAGE

Contains the raw Galileo F/Nav page data

1414

GALINAVRAWWORD

Contains the raw Galileo I/Nav word data

1425

SBASALMANAC

A collection of all current SBAS almanacs decoded by the
receiver

1451

SATXYZ2

Combined with a RANGE log, this data set contains the decoded
satellite information necessary to compute the solution

OEM6 Firmware Reference Manual Rev 12

369

Data Logs

Chapter 3

Message ID

Log

Description

1538

PPPPOS

PPP filter position

1541

PPPSATS

Satellites used in the PPPPOS solution

1576

PASSCOM5

Pass through log

1577

PASSCOM6

Pass through log

1584

BDSALMANAC

Decoded almanac parameters as received from the satellite, with
the parity information removed and appropriate scaling applied

1590

BDSIONO

Contains the Klobuchar ionosphere model parameters
transmitted by the BeiDou satellites

1607

BDSCLOCK

Time parameters transmitted by the BeiDou satellites

1608

BLUETOOTHSTATUS

Bluetooth radio module status

1613

WIFICLISTATUS

Wi-Fi client connection status

1616

WIFICLISCANRESULTS

Wi-Fi AP scan results

1618

NOVATELXOBS

NovAtel proprietary RTK correction

1620

NOVATELXREF

NovAtel proprietary reference station message for use in ALIGN

1666

WIFIAPSTATUS

Wi-Fi Access Point Status

1669

IPSTATS

IP statistics

1685

CELLULARSTATUS

Cellular modem and network status information

1686

CELLULARINFO

Cellular modem and network information

1695

BDSRAWNAVSUBFRAME Log contains single set of BDS ephemeris parameters

1696

BDSEPHEMERIS‘

A single set of BDS ephemeris parameters

1698

HEADINGRATE

Provides rate of change for the heading parameters

1701

PASSCOM7

Pass through log (ProPak6 only via expansion cable)

1702

PASSCOM8

Pass through log (ProPak6 only via expansion cable)

1703

PASSCOM9

Pass through log (ProPak6 only via expansion cable)

1704

PASSCOM10

Pass through log (ProPak6 only via expansion cable)

1718

LBANDBEAMTABLE

List of L-Band Beams

1719

TERRASTARINFO

TerraStar Subscription Information

1728

VERIPOSINFO

Veripos Subscription Information

1729

TERRASTARSTATUS

TerraStar Decoder and Subscription Status

1730

VERIPOSSTATUS

Veripos Decoder and Subscription Status

1738

MARK3POS

Position at time of Mark3 input event

1739

MARK4POS

Position at time of Mark4 input event

OEM6 Firmware Reference Manual Rev 12

370

Data Logs

Chapter 3

Message ID
2048

Log
RTKASSISTSTATUS

Description
Status of RTK ASSIST
CMR FORMAT LOGS a

103

CMROBS

Base station satellite observation information

105

CMRREF

Base station position information

310

CMRDESC

Base station description information

717

CMRPLUS

Base station position information (low rate)

882

CMRGLOOBS

CMR Type 3 GLONASS observations
RTCA FORMAT LOGS a

6

RTCAOBS

Type 7 Base Station observations

10

RTCA1

Type 1 Differential GPS corrections

11

RTCAREF

Type 7 Base Station parameters

347

RTCAEPHEM

Type 7 Ephemeris and time information

805

RTCAOBS2

Type 7 Base Station observations 2

1049

RTCAREFEXT

Type 7 Extended Base Station parameters
RTCM FORMAT LOGS a

107

RTCM1

Type 1 Differential GPS corrections

116

RTCM59

Type 59N-0 NovAtel Proprietary: RT20 differential

117

RTCM3

Type 3 Base Station parameters

118

RTCM22

Type 22 Extended Base Station parameters

129

RTCM16

Type16 Special message

131

RTCM16T

Type16T Special text message

260

RTCM1819

Type18 and Type 19 raw measurements

275

RTCM9

Type 9 Partial Differential GPS Corrections

307

RTCM15

Type 15 Ionospheric Corrections

374

RTCM2021

Type 20 and Type 21 Measurement Corrections

665

RTCM23

Type 22 Extended Base Station parameters

667

RTCM24

Type 23 Antenna Type Definition

864

RTCM31

Type 31 Differential GLONASS Corrections

873

RTCM32

Type 32 GLONASS Base Station parameters

875

RTCM36

Type 36 Special Message

OEM6 Firmware Reference Manual Rev 12

371

Data Logs

Chapter 3

Message ID

Log

Description

877

RTCM36T

Type 36T Special Text Message

903

RTCM59GLO

NovAtel proprietary GLONASS differential NovAtel proprietary
GLONASS differential

957

RTCMOMNI1

RTCM1 from OmniSTAR
RTCMV3 FORMAT LOGS a

765

RTCM1005

RTK Base Station ARP

768

RTCM1006

RTK Base Station ARP with Antenna Height

770

RTCM1004

Extended L1/L2 GPS RTK Observables

772

RTCM1001

L1-Only GPS RTK Observables

774

RTCM1002

Extended L1-Only GPS RTK Observables

776

RTCM1003

L1/L2 GPS RTK Observables

852

RTCM1007

Extended Antenna Descriptor and Setup

854

RTCM1008

Extended Antenna Reference Station Description and Serial
Number

885

RTCM1009

GLONASS L1-Only RTK

887

RTCM1010

Extended GLONASS L1-Only RTK

889

RTCM1011

GLONASS L1/L2 RTK

891

RTCM1012

Extended GLONASS L1/L2 RTK

893

RTCM1019

GPS Ephemerides

895

RTCM1020

GLONASS Ephemerides

1097

RTCM1033

Receiver and antenna descriptors
NMEA Format Data Logs

217

GPALM

Almanac Data

218

GPGGA

GPS Fix Data and Undulation

219

GPGLL

Geographic Position - latitude/longitude

220

GPGRS

GPS Range Residuals for Each Satellite

221

GPGSA

GPS DOP and Active Satellites

222

GPGST

Pseudorange Measurement Noise Statistics

223

GPGSV

GPS Satellites in View

224

GPRMB

Generic Navigation Information

225

GPRMC

GPS Specific Information

226

GPVTG

Track Made Good and Ground Speed

OEM6 Firmware Reference Manual Rev 12

372

Data Logs

Chapter 3

Message ID

Log

Description

227

GPZDA

UTC Time and Date

259

GPGGARTK

GPS Fix Data with Extra Precision

521

GPGGALONG

GPS Fix Data, Extra Precision and Undulation

859

GLMLA

NMEA GLONASS Almanac Data

1045

GPHDT

Heading in Degrees True

a. CMR, RTCA, RTCM and RTCMV3 logs may be logged with an A or B extension to give an ASCII or Binary output
with a NovAtel header followed by Hex or Binary data respectively.

OEM6 Firmware Reference Manual Rev 12

373

Data Logs

3.2.1

Chapter 3

ALIGNBSLNENU
ENU baselines using ALIGN

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log outputs the RTK quality ENU baselines from ALIGN. The XYZ baselines (output in ALIGNBSLNXYZ
log) are rotated relative to master position (output in MASTERPOS) to compute ENU baselines.



On OEM617D and FlexPak6D receivers, the ALIGNBSLNENU log is not available for the
secondary antenna input.

Message ID:

1315

Log Type:

Asynch

Recommended Input:
log alignbslnenua onnew
ASCII Example:
#ALIGNBSLNENUA,COM1,0,29.0,FINESTEERING,1629,259250.000,00040000,100b,39448;
SOL_COMPUTED,NARROW_INT,4.1586,-1.9197,-0.0037,0.0047,0.0050,0.0062,"0092",
"AAAA",22,16,16,16,0,01,0,33*11e1d4c0
Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

ALIGNBSLNENU Log Header

2

sol stat

Solution status, see Table 83, Solution Status on
page 395

Enum

4

H

3

pos type

Position type, see Table 84, Position or Velocity Type on
Enum
page 396

4

H+4

4

East

East Baseline (relative to master position) in metres

Double

8

H+8

5

North

North Baseline (relative to master position) in metres

Double

8

H+16

6

Up

Up Baseline (relative to master position) in metres

Double

8

H+24

7

East σ

East Baseline STD in metres

Float

4

H+32

8

North σ

North Baseline STD in metres

Float

4

H+36

9

Up σ

Up Baseline STD in metres

Float

4

H+40

Rover id

Rover Receiver ID
Set using the SETROVERID command (see page 289) on
Char[4]
the Rover

4

H+44

4

H+48

10

e.g., setroverid RRRR

11

Master id

Master Receiver ID
Set using the DGPSTXID command (see page 121) on the
Char[4]
Master
Default: AAAA

OEM6 Firmware Reference Manual Rev 12

374

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary
Bytes

Binary
Offset

12

#SVs

Number of satellites tracked

Uchar

1

H+52

13

#solnSVs

Number of satellites in solution

Uchar

1

H+53

14

#obs

Number of satellites above elevation mask angle

Uchar

1

H+54

15

#multi

Number of satellites above elevation mask angle with L2,
Uchar
B2

1

H+55

16

Reserved

Hex

1

H+56

17

ext sol stat

Extended solution status, see Table 87, Extended
Solution Status on page 398

Hex

1

H+57

18

Galileo and
BeiDou sig mask

Galileo and BeiDou signals used mask (see Table 85,
BESTPOS Galileo and BeiDou Signal-Used Mask on
page 398)

Hex

1

H+58

19

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see Table 86,
BESTPOS GPS and GLONASS Signal-Used Mask on
page 398)

Hex

1

H+59

20

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+60

21

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

375

Data Logs

3.2.2

Chapter 3

ALIGNBSLNXYZ
XYZ baselines using ALIGN

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log outputs the RTK quality XYZ baselines from ALIGN.



On OEM617D and FlexPak6D receivers, the ALIGNBSLNXYZ log is not available for the
secondary antenna input.

Message ID:

1314

Log Type:

Asynch

Recommended Input:
log alignbslnxyza onnew
ASCII Example:
#ALIGNBSLNXYZA,COM1,0,29.0,FINESTEERING,1629,259250.000,00040000,9d28,39448;
SOL_COMPUTED,NARROW_INT,3.1901,-3.0566, 1.2079,0.0050,0.0054,0.0056,"0092",
"AAAA",22,16,16,16,0,01,0,33*ac372198
Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

1

ALIGNBSLNXYZ Log Header

H

0

2

sol stat

Solution status, see Table 83, Solution Status on page 395 Enum

4

H

3

pos type

Position type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

4

dX

X Baseline in metres

Double

8

H+8

5

dY

Y Baseline in metres

Double

8

H+16

6

dZ

Z Baseline in metres

Double

8

H+24

7

dX σ

X Baseline STD in metres

Float

4

H+32

8

dY σ

Y Baseline STD in metres

Float

4

H+36

9

dZ σ

Z Baseline STD in metres

Float

4

H+40

Uchar[4] 4

H+44

Set using the DGPSTXID command (see page 121) on the
Uchar[4] 4
Master

H+48

Rover Receiver ID
10

Rover id

Set using SETROVERID command (see page 289) on the
Rover
e.g. SETROVERID RRRR
Master Receiver Id

11

Master id

Default: AAAA
12

#SVs

Number of satellites tracked

OEM6 Firmware Reference Manual Rev 12

Uchar

1

H+52

376

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary
Bytes

Binary
Offset

13

#solnSVs

Number of satellites in solution

Uchar

1

H+53

14

#obs

Number of satellites above elevation mask angle

Uchar

1

H+54

15

#multi

Number of satellites above elevation mask angle with L2,
B2

Uchar

1

H+55

16

Reserved

Hex

1

H+56

17

ext sol stat

Extended solution status, see Table 87, Extended Solution
Hex
Status on page 398

1

H+57

18

Galileo and BeiDou signals used mask (see Table 85,
Galileo and
BESTPOS Galileo and BeiDou Signal-Used Mask on
BeiDou sig mask
page 398)

Hex

1

H+58

19

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see Table 86,
BESTPOS GPS and GLONASS Signal-Used Mask on
page 398)

Hex

1

H+59

20

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+60

21

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

377

Data Logs

3.2.3

Chapter 3

ALIGNDOP
Calculated DOP values

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log outputs the DOP computed using the satellites used in the heading solution. This log comes out at a
default 1 Hz rate. Additional logs may be output not on the even second if the DOP changes and ALIGN is
operating at greater than 1 Hz.
Message ID:

1332

Log Type:

Asynch

Recommended Input:
log aligndopa onnew
ASCII Example:
#ALIGNDOPA,COM1,0,22.5,FINESTEERING,1629,259250.000,00040000,de2d,39448;
1.6160,1.2400,0.6900,0.9920,0.7130,10.0,16,4,32,23,10,7,20,13,30,16,47,43,
46,53,54,44,45*90a72971
Field

Field type

Description

1

ALIGNDOP

Log Header

2

GDOP

Geometric DOP

3

PDOP

4

Binary
Bytes

Format

Binary
Offset

H

0

Float

4

H

Position DOP

Float

4

H+4

HDOP

Horizontal DOP

Float

4

H+8

5

HTDOP

Horizontal and time DOP

Float

4

H+12

6

TDOP

Time DOP

Float

4

H+16

7

Elev mask

Elevation mask angle

Float

4

H+20

8

#sats

Number of satellites to follow

Ulong

4

H+24

9

sats

Satellites in use at time of calculation

Ulong

4

H+28

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+28+
(#sats * 4)

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

378

Data Logs

3.2.4

Chapter 3

ALMANAC
Decoded GPS Almanac

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the decoded GPS almanac parameters from subframes four and five, as received from the
satellite, with the parity information removed and appropriate scaling applied. For more information about
almanac data, refer to the GPS SPS Signal Specification.
The OEM6 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating
an almanac boot file is not necessary.
Message ID:

73

Log Type:

Asynch

Recommended Input:
log almanaca onchanged
ASCII Example:
#ALMANACA,COM1,0,54.0,SATTIME,1364,409278.000,00000000,06de,2310;
29,
1,1364,589824.0,6.289482e-03,-7.55460039e-09,-2.2193421e+00,-1.7064776e+00,
-7.94268362e-01,4.00543213e-05,3.63797881e-12,1.45856541e-04,2.6560037e+07,
4.45154034e-02,1,0,0,FALSE,
2,1364,589824.0,9.173393e-03,-8.16033991e-09,1.9308788e+00,1.9904300e+00,
6.60915023e-01,-1.62124634e-05,0.00000000,1.45860023e-04,2.6559614e+07,
8.38895743e-03,1,0,0,FALSE,
3,1364,589824.0,7.894993e-03,-8.04604944e-09,7.95206128e-01,6.63875501e-01,
-2.00526792e-01,7.91549683e-05,3.63797881e-12,1.45858655e-04,2.6559780e+07,
-1.59210428e-02,1,0,0,TRUE,
...
28,1364,589824.0,1.113367e-02,-7.87461372e-09,-1.44364969e-01,-2.2781989e+00,
1.6546425e+00,3.24249268e-05,0.00000000,1.45859775e-04,2.6559644e+07,
1.80122900e-02,1,0,0,FALSE,
29,1364,589824.0,9.435177e-03,-7.57745849e-09,-2.2673888e+00,-9.56729511e-01,
1.1791713e+00,5.51223755e-04,1.09139364e-11,1.45855297e-04,2.6560188e+07,
4.36225787e-02,1,0,0,FALSE,
30,1364,589824.0,8.776665e-03,-8.09176563e-09,-1.97082451e-01,1.2960786e+00,
2.0072936e+00,2.76565552e-05,0.00000000,“1.45849410e-04,2.6560903e+07,
2.14517626e-03,1,0,0,FALSE*de7a4e45
The speed at which the receiver locates and locks onto new satellites is improved if the receiver
has approximate time and position, as well as an almanac. This allows the receiver to compute
the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets,
improving Time to First Fix (TTFF).

OEM6 Firmware Reference Manual Rev 12

379

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary
Bytes

Binary
Offset

1

ALMANAC

Log header

H

0

2

#messages

The number of satellite PRN almanac messages to follow.
Long
Set to zero until almanac data is available

4

H

3

PRN

Satellite PRN number for current message, dimensionless Ulong

4

H+4

4

week

Almanac reference week (GPS reference week number)

Ulong

4

H+8

5

seconds

Almanac reference time, seconds into the week

Double 8

H+12

Double 8

H+20

Eccentricity, dimensionless - defined for a conic section
where

6

ecc

7




Rate of right ascension, radians/second

Double 8

H+28

8

0

Right ascension, radians

Double 8

H+36

9



Argument of perigee, radians - measurement along the
orbital path from the ascending node to the point where the Double 8
SV is closest to the Earth, in the direction of the SV's motion

H+44

10

Mo

Mean anomaly of reference time, radians

Double 8

H+52

11

afo

Clock aging parameter, seconds

Double 8

H+60

12

af1

Clock aging parameter, seconds/second

Double 8

H+68

13

N0

Computed mean motion, radians/second

Double 8

H+76

14

A

Semi-major axis, metres

Double 8

H+84

15

incl-angle

Angle of inclination relative to 0.3 , radians

Double 8

H+92

16

SV config

Satellite configuration

Ulong

4

H+100

17

health-prn

Ulong

4

H+104

18

health-alm

Ulong

4

H+108

Bool

4

H+112

e = 0 is a circle, e = 1 is a parabola, 01 is a hyperbola

SV health from Page 25 of subframe 4 or 5
(6 bits)
SV health from almanac (8 bits)
Anti-spoofing on?

19

antispoof

0 = FALSE
1 = TRUE

20...

Next PRN offset = H + 4 + (#messages x 112)

21

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(112 x
#messages)

22

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

380

Data Logs

3.2.5

Chapter 3

APPLICATIONSTATUS
Application status information

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains API status information.
Message ID:

520

Log Type:

Asynch

Recommended Input:
log applicationstatus once
ASCII Example:
#APPLICATIONSTATUSA,COM2,0,86.0,UNKNOWN,0,1.693,00040000,3314,6096;1,FALSE,
00000000,00000000,"IndividualTest","1.00""2010/Sep/14","09:31:08"*e3667131
Field

Field type

Description

1

APPLICATIONSTATUS
header

Log header

2

APIVersion

Version of the API header

3

Running

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

TRUE if the application is running.
FALSE otherwise

Bool

4

H+4

BaseAddress

Base address of the loaded application

Ulong

4

H+8

5

Size

Size of the loaded application

Ulong

4

H+12

6

Name

Name of the loaded application

FixedCharArray[16] 16

H+16

7

Version

Version of the loaded application

FixedCharArray[16] 16

H+32

8

CompileDate

Compile data of the loaded application

FixedCharArray[12] 12

H+48

9

CompileTime

Compile time of the loaded application

FixedCharArray[12] 12

H+60

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

381

Data Logs

3.2.6

Chapter 3

AUTHCODES
List of authorization codes

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains all authorization codes (auth codes) entered into the system since the last complete
firmware reload. Signature authorization codes will be maintained through a SoftLoad. The log also indicates
the status of the firmware signature, if present. For more information about firmware signatures see the
“Upgrading Using the AUTH Command” section of the OEM6 Installation and Operation Manual (OM20000128).
The following situations will cause an authorization code to be marked invalid:
•

Authorization Code is for a different receiver

•

Authorization Code is for a different firmware version (if unsigned)

•

Authorization Code has expired

•

Authorization Code was entered incorrectly

•

Authorization Code requires a firmware signature, but one is not present.

If you require new authorization codes, contact NovAtel Customer Service.
Message ID:

1348

Log Type:

Polled

Recommended Input:
log authcodesa once
ASCII Example:
#AUTHCODESA,COM1,0,80.5,UNKNOWN,0,10.775,004c0000,2ad2,12143;VALID,2,SIGNATURE,
TRUE,"63F3K8,MX43GD,T4BJ2X,924RRB,BZRWBT,D2SB0G550",STANDARD,TRUE,"CJ43M9,
2RNDBH,F3PDK8,N88F44,8JMKK9,D2SB0G550"*6f778e32
Field

Field type

1

AUTHCODES
header

2

AUTHCODES
Signature
Status

Description

Binary
Bytes

Format

Log header

Binary Offset

H

0

Enum

4

H

Ulong

4

H+4

Enum

4

H+8

4

H+12

variablea

H+16

Status of the Firmware Signature
1 = NONE
2 = INVALID
3 = VALID

3

Number of Auth # of Auth Codes to follow
Codes
(max is 24)

4

Auth code type

1=STANDARD
2=SIGNATURE

5

Valid

TRUE if the Auth Code has been verified Bool

6

Auth Code
String

ASCII String of the Auth Code

OEM6 Firmware Reference Manual Rev 12

String
[max 80]

382

Data Logs

Field

Chapter 3

Field type

Description

Binary
Bytes

Format

Binary Offset

7...

Next AuthCode = H+8+ (#AuthCodes*variable)

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+8+
(#AuthCodes*variable)

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

383

Data Logs

3.2.7

Chapter 3

AVEPOS
Position averaging

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

When position averaging is underway, the various fields in the AVEPOS log contain the parameters being
used in the position averaging process. Table 81, Position Averaging Status on page 385 shows the possible
position averaging status values seen in field #8 of the AVEPOS log table.
See the description of the POSAVE command on page 219. For general positioning information, refer to An
Introduction to GNSS, available on our website at www.novatel.com/support/.
Asynchronous logs should only be logged ONCHANGED. Otherwise, the most current data is
not output when it is available. This is especially true of the ONTIME trigger, which may cause
inaccurate time tags to result.
Message ID:

172

Log Type:

Asynch

Recommended Input:
log aveposa onchanged
ASCII Example:
#AVEPOSA,COM1,0,48.5,FINESTEERING,1364,492100.000,80000000,e3b4,2310;
51.11635589900,-114.03833558937,1062.216134356,1.7561,0.7856,1.7236,INPROGRESS,
2400,2*72a550c1
When a GNSS position is computed, there are four unknowns being solved: latitude, longitude,
height and receiver clock offset (often just called time). The solutions for each of the four
unknowns are correlated to satellite positions in a complex way. Since satellites are above the
antenna (none are below) there is a geometric bias. Therefore, geometric biases are present in
the solutions and affect the computation of height. These biases are called DOPs (Dilution Of
Precision). Smaller biases are indicated by low DOP values. VDOP (Vertical DOP) pertains to
height. Most of the time, VDOP is higher than HDOP (Horizontal DOP) and TDOP (Time DOP).
Therefore, of the four unknowns, height is the most difficult to solve. Many GNSS receivers
output the Standard Deviations (SD) of the latitude, longitude and height. Height often has a
larger value than the other two.
Accuracy is based on statistics and reliability is measured in percent. When a receiver states it
can measure height to one metre, this is an accuracy. Usually this is a one sigma value (one
SD). A one sigma value for height has a reliability of 68%. In other words, the error is less than
one metre 68% of the time. For a more realistic accuracy, double the one sigma value (one
metre) and the result is 95% reliability (error is less than two metres 95% of the time). Generally,
GNSS heights are 1.5 times poorer than horizontal positions. See also page 473 for CEP and
RMS definitions.

OEM6 Firmware Reference Manual Rev 12

384

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

AVEPOS
header

Log header

2

lat

Average WGS84 latitude (degrees)

Double 8

H

3

lon

Average WGS84 longitude (degrees)

Double 8

H+8

4

hgt

Average height above sea level (m)

Double 8

H+16

5

lat 

Estimated average standard deviation of latitude solution
element (m)

Float

4

H+24

6

lon 

Estimated average standard deviation of longitude solution
element (m)

Float

4

H+28

7

hgt 

Estimated average standard deviation of height solution
element (m)

Float

4

H+32

8

posave

Position averaging status (see Table 81, Position Averaging
Status on page 385)

Enum

4

H+36

9

ave time

Elapsed time of averaging (s)

Ulong

4

H+40

10

#samples

Number of samples in the average

Ulong

4

H+44

11

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 81: Position Averaging Status
Binary

ASCII

Description

0

OFF

Receiver is not averaging

1

INPROGRESS

Averaging is in progress

2

COMPLETE

Averaging is complete

OEM6 Firmware Reference Manual Rev 12

385

Data Logs

3.2.8

Chapter 3

BDSALMANAC
Decoded BDS Almanac

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the decoded BeiDou almanac parameters, with the parity information removed and
appropriate scaling applied. Multiple messages are transmitted, one for each SV almanac collected. For
more information about almanac data, refer to the BDS Signal Specification.
The OEM6 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating
an almanac boot file is not necessary.
Message ID:

1584

Log Type:

Asynch

Recommended Input:
log bdsalmanaca onchanged
ASCII Example:
#BDSALMANACA,COM1,13,88.5,SATTIME, 1727,518438.000,00000000,24ad,44226;1,371,
245760,6493.394531,2.9134750366e-04,-2.289514637,-0.021819903,-2.456844003,
1.30291141e-09,2.7785425443e-02,-1.096725e-04,2.18279e-11,0*77017e1b
...
#BDSALMANACA,COM1,0,88.5,SATTIME, 1727,518108.000,00000000,24ad,44226;14,371,
217088,5282.558105,1.4486312866e-03,-2.970093901,2.846651891,1.512957087,
-6.91457373e-09,1.7820542434e-02,7.438660e-05,0.00000,d8*ce944672
Field

Field Type

Description

1

BDSALMANAC
Log header
header

2

satellite ID

Satellite ID/ranging code

3

week

4

Binary
Bytes

Format

Binary
Offset

H

0

Ulong

4

H

Week number

Ulong

4

H+4

toa

Time of almanac

Ulong

4

H+8

5

RootA

Square root of semi-major axis (sqrt(metres))

Double

8

H+12

6

ecc

Eccentricity

Double

8

H+20

7

ω

Argument of perigee (radians)

Double

8

H+28

8

M0

Mean anomaly at reference time (radians)

Double

8

H+36

9

Ω

Longitude of ascending node of orbital of plane computed
Double
according to reference time (radians)

8

H+44

Rate of right ascension (radians/second)

Double

8

H+52

Correction of orbit reference inclination at reference time
Double
(radians)

8

H+60

10
11

o

Ω
δi

OEM6 Firmware Reference Manual Rev 12

386

Data Logs

Field

Chapter 3

Field Type

Description

Binary
Bytes

Format

Binary
Offset

12

a0

Constant term of clock correction polynomial (seconds)

Double

8

H+68

13

a1

Linear term of clock correction polynomial (seconds/
seconds)

Double

8

H+76

14

health

Satellite health information

Ulong

4

H+84

15

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+88

16

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

387

Data Logs

3.2.9

Chapter 3

BDSCLOCK
BeiDou time parameters

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains time parameters transmitted by the BeiDou satellites. These parameters can be used to
calculated the offset between BeiDou time (BDT) and other time frames.
Message ID:

1607

Log Type:

Asynch

Recommended Input:
log bdsclocka onchanged
ASCII Example:
#BDSCLOCKA,COM1,0,80.0,SATTIME, 1730,193994.000,00000000,3b16,44290;
-9.313225746154785e-010,-8.881784197001252e-016,2,6,0,2,0.000000000000000e+000,
0.000000000000000e+000,0.000000000000000e+000,0.000000000000000e+000,
0.000000000000000e+000,0.000000000000000e+000*84820676
Field

Field Type

Description

1

BDSCLOCK
header

Log header

2

A0UTC

BDT clock bias relative to UTC (seconds)

3

A1UTC

BDT clock rate relative to UTC (seconds/second)

4

ΔTLS

5

Format

Binary Binary
Bytes Offset
H

0

Double

8

H

Double

8

H+8

Delta time due to leap seconds before the new leap second is
Short
effective (seconds)

2

H+16

WNLSF

Week number of the new leap second

Ushort

2

H+18

6

DN

Day number of week of the new leap second

Ushort

2

H+20

7

ΔTLSF

Delta time due to leap seconds after the new leap second
effective

Short

2

H+22

8

A0GPS

BDT clock bias relative to GPS time (seconds)

Double

8

H+24

9

A1GPS

BDT clock rate relative to GPS time (seconds/second)

Double

8

H+32

10

A0Gal

BDT clock bias relative to Galileo time (seconds)

Double

8

H+40

11

A1Gal

BDT clock rate relative to Galileo time (seconds/second)

Double

8

H+48

12

A0GLO

BDT clock bias relative to GLONASS time (seconds)

Double

8

H+56

13

A1GLO

BDT clock rate relative to GLONASS time (seconds/second)

Double

8

H+64

14

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+72

15

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

388

Data Logs

Chapter 3

3.2.10 BDSEPHEMERIS
Decoded BDS ephemeris
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains a single set of BDS ephemeris parameters with appropriate scaling applied. Multiple
messages are transmitted, one for each SV ephemeris collected.
Message ID:

1696

Log Type:

Asynch

Recommended Input:
log bdsephemerisa onchanged
ASCII Example:
#BDSEPHEMERISA,COM1,0,82.5,SATTIME,1774,162464.000,00000000,2626,45436;13,418,
2.00,1,8.20e-09,3.10e-09,11,162000,2.33372441e-04,5.73052716e-12,
8.53809211e-19,12,162000,5282.609060,2.3558507673e-03,3.122599126,
4.1744595973e-09,-0.654635278,1.950232658e+00,-6.98564812e-09,9.5674299203e-01,
3.164417525e-10,4.325527698e-06,8.850824088e-06,179.3593750,87.5312500,
7.171183825e-08,1.024454832e-08*d8b97536
Field

Field Type

Description

1

BDSEPHEMERIS
header

Log header

2

satellite ID

ID/ranging code

3

Week

4

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Week number

Ulong

4

H+4

URA

User range accuracy (metres). This is the evaluated
URAI/URA lookup-table value.

Double

8

H+8

5

health 1

Autonomous satellite health flag. 0 means broadcasting
Ulong
satellite is good and 1 means not.

4

H+16

6

tgd1

Equipment group delay differential for the B1 signal
(seconds)

Double

8

H+20

7

tgd2

Equipment group delay differential for the B2 signal
(seconds)

Double

8

H+28

8

AODC

Age of data, clock

Ulong

4

H+36

9

toc

Reference time of clock parameters

Ulong

4

H+40

10

a0

Constant term of clock correction polynomial (seconds) Double

8

H+44

11

a1

Linear term of clock correction polynomial (seconds/
seconds)

Double

8

H+52

12

a2

Quadratic term of clock correction polynomial (seconds/
Double
seconds^2)

8

H+60

OEM6 Firmware Reference Manual Rev 12

389

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary
Bytes

Binary
Offset

13

AODE

Age of data, ephemeris

Ulong

4

H+68

14

toe

Reference time of ephemeris parameters

Ulong

4

H+72

15

RootA

Square root of semi-major axis (sqrt(metres))

Double

8

H+76

16

ecc

Eccentricity (sqrt(metres))

Double

8

H+84

17

ω

Argument of perigee

Double

8

H+92

18

ΔN

Mean motion difference from computed value (radians/
Double
second)

8

H+100

19

M0

Mean anomaly at reference time (radians)

Double

8

H+108

20

Ω0

Longitude of ascending node of orbital of plane
computed according to reference time (radians)

Double

8

H+116

21

Ω

Rate of right ascension (radians/second)

Double

8

H+124

o

22

i0

Inclination angle at reference time (radians)

Double

8

H+132

23

IDOT

Rate of inclination angle (radians/second)

Double

8

H+140

24

cuc

Amplitude of cosine harmonic correction term to the
argument of latitude (radians)

Double

8

H+148

25

cus

Amplitude of sine harmonic correction term to the
argument of latitude (radians)

Double

8

H+156

26

crc

Amplitude of cosine harmonic correction term to the
orbit radius (metres)

Double

8

H+164

27

crs

Amplitude of sine harmonic correction term to the orbit
Double
radius (metres)

8

H+172

28

cic

Amplitude of cosine harmonic correction term to the
angle of inclination (radians)

Double

8

H+180

29

cis

Amplitude of sine harmonic correction term to the angle
Double
of inclination (radians)

8

H+188

30

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+196

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

390

Data Logs

3.2.11

Chapter 3

BDSIONO
BeiDou Klobuchar ionosphere delay model

OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the Klobuchar ionosphere model parameters transmitted by the BeiDou satellites.
Message ID:

1590

Log Type:

Asynch

Recommended Input:
log bdsionoa onchanged
ASCII Example:
#BDSIONOA,COM1,0,80.0,SATTIME, 1734,58094.000,00080000,1956,44836;6,
2.607703208923340e-008,4.097819328308105e-007,-3.695487976074218e-006,
7.212162017822263e-006,69632.0,360448.0,-524288.0,-327680.0*69c2a6c6
Field
Type

Field

Description

1

BDSIONO
Log header
Header

2

ID

Transmitting satellite ID

3

α0

4

Binary
Bytes

Format

Binary
Offset

H

0

Ulong

4

H

Klobuchar cosine curve amplitude constant term (seconds)

Double

8

H+4

α1

Klobuchar cosine curve amplitude first-order term (seconds/π)

Double

8

H+12

5

α2

Klobuchar cosine curve amplitude second-order term (seconds/
Double
π2)

8

H+20

6

α3

Klobuchar cosine curve amplitude third-order term (seconds/π3) Double

8

H+28

7

β0

Klobuchar cosine curve period constant term (seconds)

Double

8

H+36

8

β1

Klobuchar cosine curve period first-order term (seconds/π)

Double

8

H+44

9

β2

Klobuchar cosine curve period second-order term (seconds/π2) Double

8

H+52

10

β3

Klobuchar cosine curve period third-order term (seconds/π3)

Double

8

H+60

11

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+68

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

391

Data Logs

Chapter 3

3.2.12 BDSRAWNAVSUBFRAME
Raw BeiDou subframe data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw BeiDou subframe data with parity bits removed. Only subframes that have passed
the parity check are output.
Message ID:

1695

Log Type:

Asynch

Recommended Input:
log bdsrawnavsubframea onchanged
ASCII Example:
#BDSRAWNAVSUBFRAMEA,COM1,0,85.5,SATTIME,1774,162554.000,00000000,88f3,45436;
84,13,B1D1,1,e24049ebb2b00d113c685207c4d0ee9fd1bf364e41f8f4b57003268c*6b1f478b
Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BDSRAWNAVSUBFRAME
Log header
header

2

signal channel

Signal channel number

Ulong

4

H

3

satellite ID

Satellite ID

Ulong

4

H+4

4

data source

Source of data (refer to Table 82, Data Source
Enum
on page 392)

4

H+8

5

subframe ID

Subframe identifier

Ulong

4

H+12

6

raw subframe data

Framed raw navigation bits

Hex[28]

28

H+16

7

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 82: Data Source
ASCII

Binary

B1D1

0

Data is from a B1/D1 signal

B1D2

1

Data is from a B1/D2 signal

B2D1

65536

Data is from a B2/D1 signal

B2D2

65537

Data is from a B2/D2 signal

OEM6 Firmware Reference Manual Rev 12

Description

392

Data Logs

Chapter 3

3.2.13 BESTPOS
Best position
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

When positioning with GNSS, there are four parameters being solved for: latitude, longitude, height and
receiver clock offset from GPS time. The quality of the solution for all four parameters depends on the
geometry of where the satellites are with respect to the antenna (and receiver). The strength of the
positioning geometry is indicated by Dilution of Precision (DOP) values, with lower DOP numbers indicating
better geometry. Because all the GNSS satellites are above terrestrial receivers, the VDOP (vertical DOP) is
the largest DOP value. This is why the reported standard deviation for height is usually larger than for latitude
or longitude.
Accuracy is based on statistics and reliability is measured in percentages. When a receiver states it can
measure height to one metre, this is an accuracy measure. Usually this is a one sigma value (one SD). A one
sigma value for height has a reliability of 68%. In other words, the error is less than one metre 68% of the
time. For a more realistic accuracy, double the one sigma value (one metre) and the result is 95% reliability
(error is less than two metres 95% of the time). Generally, GNSS heights are 1.5 times poorer than horizontal
positions. See also the note in the GPGST log on page 473 for CEP and RMS definitions.
This log contains the best position computed by the receiver. In addition, it reports several status indicators,
including differential age, which is useful in predicting anomalous behavior brought about by outages in
differential corrections. A differential age of 0 indicates that no differential correction was used.
With the system operating in an RTK mode, BESTPOS reflects the latest low-latency solution for up to 60
seconds after reception of the last base station observation. After this 60 second period, the position reverts
to the best solution available and the degradation in accuracy is reflected in the standard deviation fields. If
the system is not operating in RTK mode, pseudorange differential solutions continue for the time specified in
the PSRDIFFTIMEOUT command. If the receiver is SPAN enabled, the GNSS/INS combined solution is also
a candidate for BESTPOS output.
See also the Log by Function table footnotes for position logs as well as the MATCHEDPOS log (see
page 523), PSRPOS log (see page 565) and RTKPOS log (see page 633) logs in this manual.
Multi-frequency GNSS receivers offer two major advantages over single-frequency equipment:
1. Ionospheric errors, inherent in all GNSS observations, can be modeled and significantly
reduced by combining satellite observations made on two different frequencies.
2. Observations on two frequencies allow for faster ambiguity resolution times.
In general, multi-frequency GNSS receivers provide a faster, more accurate and more reliable
solution than single-frequency equipment. They do, however, cost significantly more and so it is
important for potential GNSS buyers to carefully consider their current and future needs.
If SPAN enabled, refer the SPAN on SPAN on OEM6 Firmware Reference Manual
(OM-20000144) located on our web site: www.novatel.com/support/.
Different positioning modes have different maximum logging rates, which are also controlled by
model option. The maximum rates are: 100 Hz for RTK, 100 Hz for pseudorange based
positioning, 20 Hz for GLIDE (PDP), 20 Hz for PPP and 20 Hz for OmniSTAR (HP/XP/G2).
OEM615, 617, 617D and FlexPak6D are not L-Band capable. TerraStar-L is not available for
OEM638 and ProPak6 receivers.

OEM6 Firmware Reference Manual Rev 12

393

Data Logs

Chapter 3

Message ID:

42

Log Type:

Synch

Recommended Input:
log bestposa ontime 1
ASCII Example 1:
#BESTPOSA,COM1,0,83.5,FINESTEERING,1419,336148.000,00000040,6145,
2724;SOL_COMPUTED,SINGLE,51.11636418888,-114.03832502118,1064.9520,
-16.2712,WGS84,1.6961,1.3636,3.6449,"",0.000,0.000,8,8,8,8,0,0,0,
06,0,03*6f63a93d
ASCII Example 2:
#BESTPOSA,COM1,0,78.5,FINESTEERING,1419,336208.000,00000040,6145,
2724;SOL_COMPUTED,NARROW_INT,51.11635910984,-114.03833105168,
1063.8416,-16.2712,WGS84,0.0135,0.0084,0.0172,"AAAA",1.000,0.000,
8,8,8,8,0,01,0,03*3d9fbd48
Field

Field type

Description

1

BESTPOS header Log header

2

sol stat

Solution status, see Table 83, Solution Status on
page 395

3

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

pos type

Position type, see Table 84, Position or Velocity Type on
Enum
page 396

4

H+4

4

lat

Latitude (degrees)

Double 8

H+8

5

lon

Longitude (degrees)

Double 8

H+16

6

hgt

Height above mean sea level (metres)

Double 8

H+24

7

undulation

Undulation - the relationship between the geoid and the
ellipsoid (m) of the chosen datum a

Float

4

H+32

8

datum id#

Datum ID number (see Table 26, Datum Transformation
Parameters on page 116)

Enum

4

H+36

9

lat 

Latitude standard deviation (m)

Float

4

H+40

10

lon 

Longitude standard deviation (m)

Float

4

H+44

11

hgt 

Height standard deviation (m)

Float

4

H+48

12

stn id

Base station ID

Char[4] 4

H+52

13

diff_age

Differential age in seconds

Float

4

H+56

14

sol_age

Solution age in seconds

Float

4

H+60

15

#SVs

Number of satellites tracked

Uchar

1

H+64

16

#solnSVs

Number of satellites used in solution

Uchar

1

H+65

17

#solnL1SVs

Number of satellites with L1/E1/B1 signals used in solution Uchar

1

H+66

OEM6 Firmware Reference Manual Rev 12

394

Data Logs

Field

Chapter 3

Field type

Description
Number of satellites with multi-frequency signals used in
solution

Format

Binary Binary
Bytes Offset

Uchar

1

H+67

Hex

1

H+68

18

#solnMultiSVs

19

Reserved

20

ext sol stat

Extended solution status (see Table 87, Extended
Solution Status on page 398)

Hex

1

H+69

21

Galileo and
BeiDou sig mask

Galileo and BeiDou signals used mask (see Table 85,
BESTPOS Galileo and BeiDou Signal-Used Mask on
page 398)

Hex

1

H+70

22

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see Table 86,
BESTPOS GPS and GLONASS Signal-Used Mask on
page 398)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between
the datum in use and WGS84.

Table 83: Solution Status
Solution Status
(Binary)

Description

(ASCII)

0

SOL_COMPUTED

Solution computed

1

INSUFFICIENT_OBS

Insufficient observations

2

NO_CONVERGENCE

No convergence

3

SINGULARITY

Singularity at parameters matrix

4

COV_TRACE

Covariance trace exceeds maximum (trace > 1000 m)

5

TEST_DIST

Test distance exceeded (maximum of 3 rejections if distance >10 km)

6

COLD_START

Not yet converged from cold start

7

V_H_LIMIT

Height or velocity limits exceeded (in accordance with export licensing
restrictions)

8

VARIANCE

Variance exceeds limits

9

RESIDUALS

Residuals are too large

13

INTEGRITY_WARNING Large residuals make position unreliable

18

PENDING

When a FIX POSITION command is entered, the receiver computes its
own position and determines if the fixed position is valid a

19

INVALID_FIX

The fixed position, entered using the FIX POSITION command, is not
valid

OEM6 Firmware Reference Manual Rev 12

395

Data Logs

Chapter 3

20

Position type is unauthorized - HP or XP on a receiver not authorized for
it

UNAUTHORIZED

a. PENDING implies there are not enough satellites currently tracked to verify if the FIX POSITION entered into the
receiver is valid. Under normal conditions, you should only see PENDING for a few seconds on power up before
the GNSS receiver has locked onto its first few satellites. If your antenna is obstructed (or not plugged in) and you
have entered a FIX POSITION command, then you may see PENDING indefinitely.

Table 84: Position or Velocity Type
Type
(binary)

Type (ASCII)

Description

0

NONE

No solution

1

FIXEDPOS

Position has been fixed by the FIX POSITION command

2

FIXEDHEIGHT

Position has been fixed by the FIX HEIGHT/AUTO command

8

DOPPLER_VELOCITY

Velocity computed using instantaneous Doppler

16

SINGLE

Single point position

17

PSRDIFF

Pseudorange differential solution

18

WAAS

Solution calculated using corrections from an WAAS

19

PROPAGATED

Propagated by a Kalman filter without new observations

20

OMNISTAR a

OmniSTAR VBS position

32

L1_FLOAT

Floating L1 ambiguity solution

33

IONOFREE_FLOAT

Floating ionospheric-free ambiguity solution

34

NARROW_FLOAT

Floating narrow-lane ambiguity solution

48

L1_INT

Integer L1 ambiguity solution

50

NARROW_INT

Integer narrow-lane ambiguity solution

64

OMNISTAR_HP a

OmniSTAR HP position

65

OMNISTAR_XP a

OmniSTAR XP or G2 position

68

PPP_CONVERGING b

Converging TerraStar-C solution

69

PPP b

Converged TerraStar-C solution

70

OPERATIONAL

Solution accuracy is within UAL operational limit

71

WARNING

Solution accuracy is outside UAL operational limit but within
warning limit

72

OUT_OF_BOUNDS

Solution accuracy is outside UAL limits

77

PPP_BASIC_CONVERGING b Converging TerraStar-L solution

78

PPP_BASIC b

Converged TerraStar-L solution

a. In addition to a NovAtel receiver with L-Band capability, a subscription for OmniSTAR or use of a DGPS service is
required. Contact NovAtel for details.

OEM6 Firmware Reference Manual Rev 12

396

Data Logs

Chapter 3

b. NovAtel CORRECT™ with PPP requires access to a suitable correction stream, delivered either through L-Band or
the Internet. For L-Band delivered TerraStar or Veripos service, an L-Band capable receiver and software model is
required, along with a subscription to the desired service. Contact NovAtel for TerraStar and Veripos subscription
details.

OEM6 Firmware Reference Manual Rev 12

397

Data Logs

Chapter 3
Table 85: BESTPOS Galileo and BeiDou Signal-Used Mask
Bit
0

Mask

Description

0x01

Galileo E1 used in Solution

0x02-0x08

Reserved

4

0x10

BeiDou B1 used in Solution

5

0x20

BeiDou B2 used in Solution

0x40-0x80

Reserved

1-3

6-7

Table 86: BESTPOS GPS and GLONASS Signal-Used Mask
Bit

Mask

Description

0

0x01

GPS L1 used in Solution

1

0x02

GPS L2 used in Solution

2

0x04

GPS L5 used in Solution

3

0x08

Reserved

4

0x10

GLONASS L1 used in Solution

5

0x20

GLONASS L2 used in Solution

0x40-0x80

Reserved

6-7

Table 87: Extended Solution Status
Bit

Mask

Description
If an RTK solution: NovAtel CORRECT solution has been verified

0

0x01

If a PDP solution: solution is GLIDE
Otherwise: Reserved
Pseudorange Iono Correction
0 = Unknown or default Klobuchar model
1 = Klobuchar Broadcast

1-3

0x0E

2 = SBAS Broadcast
3 = Multi-frequency Computed
4 = PSRDiff Correction
5 = NovAtel Blended Iono Value

4

0x10

RTK ASSIST active
0 - No antenna warning

5

0x20

1 - Antenna information is missing
See to the RTKANTENNA command

6-7

0xC0

Reserved

OEM6 Firmware Reference Manual Rev 12

398

Data Logs

Chapter 3
Table 88: Supplemental Position Types and NMEA Equivalents
Value

Documented Enum Name

NMEA
Equivalent

68

PPP_CONVERGING

2

69

PPP

5

70

OPERATIONAL

4

71

WARNING

5

72

OUT_OF_BOUNDS

1

77

PPP_BASIC_CONVERGING

1

78

PPP_BASIC

2

OEM6 Firmware Reference Manual Rev 12

399

Data Logs

Chapter 3

3.2.14 BESTSATS
Satellites used in BESTPOS
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log lists the used and unused satellites for the corresponding BESTPOS solution. It also describes the
signals of the used satellites or reasons for exclusions.
Message ID:

1194

Log Type:

Synch

Recommended Input:
log bestsats ontime 1
Abbreviated ASCII Example:
3 hours old

6

ELEVATIONERROR

Satellite was below the elevation cutoff

7

MISCLOSURE

Observation was too far from predicted value

8

NODIFFCORR

No differential correction available

9

NOEPHEMERIS

No ephemeris available

10

INVALIDIODE

IODE used is invalid

11

LOCKEDOUT

Satellite has been locked out

12

LOWPOWER

Satellite has low signal power

13

OBSL2

An L2 observation not directly used in the solution

15

UNKNOWN

Observation was not used because it was of an unknown type

16

NOIONOCORR

No ionosphere delay correction was available

17

NOTUSED

Observation was not used in the solution

18

OBSL1

An L1 observation not directly used in the solution

19

OBSE1

An E1 observation not directly used in the solution

20

OBSL5

An L5 observation not directly used in the solution

21

OBSE5

An E5 observation not directly used in the solution

22

OBSB2

A B2 observation not directly used in the solution

OEM6 Firmware Reference Manual Rev 12

401

Data Logs

Chapter 3
Value

Name

Description

23

OBSB1

A B1 observation not directly used in the solution

25

NOSIGNALMATCH

Signal type does not match

26

SUPPLEMENTARY

Observation contributes supplemental information to the solution

99

NA

No observation available

100

BAD_INTEGRITY

Observation was an outlier and was eliminated from the solution

101

LOSSOFLOCK

Lock was broken on this signal

102

NOAMBIGUITY

No RTK ambiguity type resolved
Table 90: BESTSATS GPS Signal Mask

Bit

Mask

Description

0

0x01

GPS L1 used in Solution

1

0x02

GPS L2 used in Solution

2

0x04

GPS L5 used in Solution

Table 91: BESTSATS GLONASS Signal Mask
Bit

Mask

Description

0

0x01

GLONASS L1 used in Solution

1

0x02

GLONASS L2 used in Solution

Table 92: BESTSATS Galileo Signal Mask
Bit

Mask

0

0x01

Description
Galileo E1 used in Solution

Table 93: BESTSATS BeiDou Signal Mask
Bit

Mask

0

0x01

BeiDou B1 used in Solution

1

0x02

BeiDou B2 used in Solution

OEM6 Firmware Reference Manual Rev 12

Description

402

Data Logs

Chapter 3

3.2.15 BESTUTM
Best available UTM data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the best available position computed by the receiver in UTM coordinates.
See also the UTMZONE command on page 335 and the BESTPOS log on page 393.
The latitude limits of the UTM System are 80°S to 84°N. If your position is outside this range,
the BESTUTM log outputs a northing, easting and height of 0.0, along with a zone letter of
‘*’and a zone number of 0, to indicate that the data in the log is unusable.

Refer to http://earth-info.nga.mil/GandG/coordsys/grids/referencesys.html for more information
and a world map of UTM zone numbers.
Message ID:

726

Log Type:

Synch

Recommended Input:
log bestutma ontime 1
ASCII Example:
#BESTUTMA,COM1,0,73.0,FINESTEERING,1419,336209.000,00000040,eb16,2724;
SOL_COMPUTED,NARROW_INT,11,U,5666936.4417,707279.3875,1063.8401,-16.2712,WGS84,
0.0135,0.0084,0.0173,"AAAA",1.000,0.000,8,8,8,8,0,01,0,03*a6d06321
Field

Field type

Description

1

BESTUTM
header

Log header

2

sol status

Solution status, see Table 83, Solution Status on page 395

3

pos type

4
5

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Position type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

z#

Longitudinal zone number

Ulong

4

H+8

zletter

Latitudinal zone letter

Ulong

4

H+12

6

northing

Northing (m) where the origin is defined as the equator in the
northern hemisphere and as a point 10000000 metres south of
Double 8
the equator in the southern hemisphere (that is, a ‘false northing’
of 10000000 m)

H+16

7

easting

Easting (m) where the origin is 500000 m west of the central
meridian of each longitudinal zone (that is, a ‘false easting’ of
500000 m)

Double 8

H+24

8

hgt

Height above mean sea level (m)

Double 8

H+32

OEM6 Firmware Reference Manual Rev 12

403

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset

9

undulation

Undulation - the relationship between the geoid and the ellipsoid
Float
(m) of the chosen datum a

4

H+40

10

datum id#

Datum ID number (see Table 26, Datum Transformation
Parameters on page 116)

Enum

4

H+44

11

N

Northing standard deviation (m)

Float

4

H+48

12

E

Easting standard deviation (m)

Float

4

H+52

13

hgt 

Height standard deviation (m)

Float

4

H+56

14

stn id

Base station ID

Char[4] 4

H+60

15

diff_age

Differential age in seconds

Float

4

H+64

16

sol_age

Solution age in seconds

Float

4

H+68

17

#SVs

Number of satellites tracked

Uchar

1

H+72

18

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+73

19

#ggL1

Number of GPS plus GLONASS plus BDS L1/B1 used in
solution

Uchar

1

H+74

20

#solnMultiSV Number of satellites with L1/E1/B1 signals used in solution

Uchar

1

H+75

21

Reserved

Uchar

1

H+76

22

ext sol stat

Extended solution status (see Table 87, Extended Solution
Status on page 398)

Hex

1

H+77

23

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see Table 85,
Hex
BESTPOS Galileo and BeiDou Signal-Used Mask on page 398)

1

H+78

24

GPS and
GLONASS
sig mask

GPS and GLONASS signals used mask (see Table 86,
BESTPOS GPS and GLONASS Signal-Used Mask on
page 398)

Hex

1

H+79

25

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+80

26

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between
the datum in use and WGS84.

OEM6 Firmware Reference Manual Rev 12

404

Data Logs

Chapter 3

3.2.16 BESTVEL
Best available velocity data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the best available velocity information computed by the receiver. In addition, it reports a
velocity status indicator, which is needed to determine whether or not the corresponding data is valid. The
velocities calculated by the receiver can have a latency associated with them. When present, the velocity
time of validity is the time tag in the log minus the latency value.



The velocity is typically from the same source used in the BESTPOS solution. For example, if
the BESTPOS is from the pseudorange filter, then the BESTVEL velocity type is the same as for
PSRVEL. However, a specific velocity source can be chosen. See the BESTVELTYPE command
on page 96.

The RTK, RTK and PPP velocities are computed from the average change in position over the time interval
between consecutive solutions. As such, they are an average velocity based on the time difference between
successive position computations and not an instantaneous velocity at the BESTVEL time tag. The velocity
latency to be subtracted from the time tag is normally half the time between filter updates. Under default
operation, the positioning filters are updated at a rate of 2 Hz. This average velocity translates into a velocity
latency of 0.25 seconds. To reduce the latency, increase the update rate of the positioning filter being used by
requesting the BESTVEL or BESTPOS messages at a rate higher than 2 Hz. For example, a logging rate of
10 Hz would reduce the velocity latency to 0.05 seconds.
If the velocity in the BESTVEL log comes from the pseudorange filter, it has been computed from
instantaneous Doppler measurements. You know that you have an instantaneous Doppler derived velocity
solution when the velocity type is PSRDIFF, WAAS or DOPPLER_VELOCITY. The instantaneous Doppler
derived velocity has low latency and is not position change dependent. If you change your velocity quickly,
you can see this in the DOPPLER_VELOCITY solution. Under typically seen dynamics with minimal jerk, the
velocity latency is zero. Under extreme, high-jerk dynamics, the latency cannot be well represented: it will still
be reported as being zero, but may be as high as 0.15 seconds. Such dynamics are typically only seen in
simulated trajectories.
Message ID:

99

Log Type:

Synch

Recommended Input:
log bestvela ontime 1
ASCII Example:
#BESTVELA,COM1,0,61.0,FINESTEERING,1337,334167.000,00000000,827b,1984;
SOL_COMPUTED,PSRDIFF,0.250,4.000,0.0206,227.712486,0.0493,0.0*0e68bf05
Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BESTVEL
Log header
header

2

sol status

Solution status, see Table 83, Solution Status on page 395

Enum

4

H

3

vel type

Velocity type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

OEM6 Firmware Reference Manual Rev 12

405

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary
Bytes

Binary
Offset

4

latency

A measure of the latency in the velocity time tag in seconds. It
should be subtracted from the time to give improved results (s)

Float

4

H+8

5

age

Differential age in seconds

Float

4

H+12

6

hor spd

Horizontal speed over ground, in metres per second

Double 8

H+16

7

trk gnd

Actual direction of motion over ground (track over ground) with
respect to True North, in degrees

Double 8

H+24

8

vert spd

Vertical speed, in metres per second, where positive values
indicate increasing altitude (up) and negative values indicate
decreasing altitude (down)

Double 8

H+32

9

Reserved

Float

4

H+40

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Velocity (speed and direction) calculations are computed from either Doppler or carrier phase
measurements rather than from pseudorange measurements. Typical speed accuracies are
around 0.03m/s (0.07 mph, 0.06 knots).
Direction accuracy is derived as a function of the vehicle speed. A simple approach would be to
assume a worst case 0.03 m/s cross-track velocity that would yield a direction error function
something like:
d (speed) = tan-1(0.03/speed)
For example, if you are flying in an airplane at a speed of 120 knots or 62 m/s, the approximate
directional error will be:
tan-1 (0.03/62) = 0.03 degrees
Consider another example applicable to hiking at an average walking speed of 3 knots or
1.5 m/s. Using the same error function yields a direction error of about 1.15 degrees.
You can see from both examples that a faster vehicle speed allows for a more accurate heading
indication. As the vehicle slows down, the velocity information becomes less and less accurate.
If the vehicle is stopped, a GNSS receiver still outputs some kind of movement at speeds
between 0 and 0.5 m/s in random and changing directions. This represents the noise and error
of the static position.
In a navigation capacity, the velocity information provided by your GNSS receiver is as, or more,
accurate than that indicated by conventional instruments as long as the vehicle is moving at a
reasonable rate of speed. It is important to set the GNSS measurement rate fast enough to
keep up with all major changes of the vehicle's speed and direction. It is important to keep in
mind that although the velocity vector is quite accurate in terms of heading and speed, the
actual track of the vehicle might be skewed or offset from the true track by plus or minus 0 to 1.8
metres as per the standard positional errors.

OEM6 Firmware Reference Manual Rev 12

406

Data Logs

Chapter 3

3.2.17 BESTXYZ
Best available cartesian position and velocity
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the receiver’s best available position and velocity in ECEF coordinates. The position and
velocity status fields indicate whether or not the corresponding data is valid. See Figure 94, The WGS84
ECEF Coordinate System on page 409, for a definition of the ECEF coordinates.
See also the BESTPOS log on page 393 and BESTVEL log on page 405.
These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the
DATUM or USERDATUM commands.
Message ID:

241

Log Type:

Synch

Recommended Input:
log bestxyza ontime 1
ASCII Example:
#BESTXYZA,COM1,0,55.0,FINESTEERING,1419,340033.000,00000040,d821,2724;
SOL_COMPUTED,NARROW_INT,-1634531.5683,-3664618.0326,4942496.3270,0.0099,0.0219,
0.0115,SOL_COMPUTED,NARROW_INT,0.0011,-0.0049,-0.0001,0.0199,0.0439,0.0230,
"AAAA",0.250,1.000,0.000,12,11,11,11,0,01,0,33*e9eafeca
Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BESTXYZ
header

Log header

2

P-sol status

Solution status, see Table 83, Solution Status on page 395

Enum

4

H

3

pos type

Position type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

4

P-X

Position X-coordinate (m)

Double 8

H+8

5

P-Y

Position Y-coordinate (m)

Double 8

H+16

6

P-Z

Position Z-coordinate (m)

Double 8

H+24

7

P-X 

Standard deviation of P-X (m)

Float

4

H+32

8

P-Y 

Standard deviation of P-Y (m)

Float

4

H+36

9

P-Z 

Standard deviation of P-Z (m)

Float

4

H+40

10

V-sol status

Solution status, see Table 83, Solution Status on page 395

Enum

4

H+44

11

vel type

Velocity type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+48

12

V-X

Velocity vector along X-axis (m/s)

Double 8

H+52

OEM6 Firmware Reference Manual Rev 12

407

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary
Bytes

Binary
Offset

13

V-Y

Velocity vector along Y-axis (m/s)

Double 8

H+60

14

V-Z

Velocity vector along Z-axis (m/s)

Double 8

H+68

15

V-X 

Standard deviation of V-X (m/s)

Float

4

H+76

16

V-Y 

Standard deviation of V-Y (m/s)

Float

4

H+80

17

V-Z 

Standard deviation of V-Z (m/s)

Float

4

H+84

18

stn ID

Base station identification

Char[4] 4

H+88

19

V-latency

A measure of the latency in the velocity time tag in seconds.
Float
It should be subtracted from the time to give improved results

4

H+92

20

diff_age

Differential age in seconds

Float

4

H+96

21

sol_age

Solution age in seconds

Float

4

H+100

22

#SVs

Number of satellites tracked

Uchar

1

H+104

23

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+105

24

#ggL1

Number of GPS plus GLONASS plus BDS L1/B1 used in
solution

Uchar

1

H+106

25

#solnMultiSVs Number of satellites with L1/E1/B1 signals used in solution

Uchar

1

H+107

26

Reserved

Char

1

H+108

27

ext sol stat

Extended solution status (see Table 87, Extended Solution
Status on page 398)

Hex

1

H+109

28

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see Table 85,
BESTPOS Galileo and BeiDou Signal-Used Mask on
page 398)

Hex

1

H+110

29

GPS and
GPS and GLONASS signals used mask (see Table 86,
GLONASS sig BESTPOS GPS and GLONASS Signal-Used Mask on
mask
page 398)

Hex

1

H+111

30

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+112

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

408

Data Logs

Chapter 3
Table 94: The WGS84 ECEF Coordinate System
- Definitions Origin =

*

Earth's center of mass

Z-Axis =

Parallel to the direction of the Conventional Terrestrial Pole (CTP) for
polar motion, as defined by the Bureau International de l'Heure (BIH) on
the basis of the coordinates adopted for the BIH stations.

X-Axis =

Intersection of the WGS 84 Reference Meridian Plane and the plane of
the CTP's Equator, the Reference Meridian being parallel to the Zero
Meridian defined by the BIH on the basis of the coordinates adopted for
the BIH stations.

Y -Axis =

Completes a right-handed, earth-centered, earth-fixed (ECEF)
orthogonal coordinate system, measured in the plane of the CTP
Equator, 90¡° East of the X-Axis.

BIH - Defined CTP
(1984.0)
Z
WGS 84



Earth's Center
of Mass

BIH-Defined
Zero Meridian
(1984.0)

Y
WGS 84
X
WGS 84

* Analogous to the BIH Defined Conventional Terrestrial System (CTS), or BTS,
1984.0.

OEM6 Firmware Reference Manual Rev 12

409

Data Logs

Chapter 3

3.2.18 BLUETOOTHSTATUS
Bluetooth radio module status
OEM Platform:

ProPak6

This log displays the status of the Bluetooth radio module.
Message ID:

1608

Log Type:

Asynch

Recommended Input:
log bluetoothstatusa onchanged
ASCII Example:
#BLUETOOTHSTATUSA,COM1,0,65.5,FINESTEERING,1745,420975.939,00440020,e870,45001;
OFF,"","",""*0e0dd582
#BLUETOOTHSTATUSA,COM1,0,79.0,FINESTEERING,1745,420989.673,00040020,e870,45001;
ON,"ProPak-6 BMAW13130046Y","B1:9E:65:2F:18:0",""*d2ce72eb
#BLUETOOTHSTATUSA,COM1,0,66.5,FINESTEERING,1745,421012.417,00040020,e870,45001;
PASSKEY,"DEL44385","36:D2:BB:72:2:0","859002"*74134842
#BLUETOOTHSTATUSA,COM1,0,76.5,FINESTEERING,1745,421020.142,00040020,e870,45001;
CONNECTED,"DEL44385","36:D2:BB:72:2:0",""*ebc826d1
Field

Field Type

Description

1

BLUETOOTH
STATUS
Header

Log Header

2

BluetoothStatus

Current Bluetooth status.
See Table 95, Bluetooth Status on page 411

Binary
Bytes

Format

Binary
Offset
0

Enum

4

H

Is blank if the Bluetooth module is off
3

Device Name

Displays the local device name if no remote device is
String
a H+4
connected
[Max 272] Variable
Displays the remote device name if a remote device is
connected
Is blank if the Bluetooth module is off

4

MAC Address

Displays the local device MAC address if no remote
device is connected
Displays the remote device MAC address if a remote
device is connected

5

Pass Code

Variable
String
a Max:
Variable
[Max 64])
H+276

Displays the pass code if pairing with a remote device
String
using SSP
[Max 64]
Is blank otherwise

Variable
Variablea Max:
H+340

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

410

Data Logs

Chapter 3
Table 95: Bluetooth Status
Binary

ASCII

Description
Bluetooth module is on, but not discoverable.

0

ON

1

OFF

2

CONNECTED

Serial Port (BT SPP) is connected.

3

PASSKEY

Secure Simple Pairing passkey displayed for confirmation.

4

DISCOVERABLE

Bluetooth module is on and discoverable, allowing devices to
detect the ProPak6 and pair with it.

OEM6 Firmware Reference Manual Rev 12

This is the actual state rather than the configured state. Refer
to BLUETOOTHCONFIG on page 97 for the configured state.
Bluetooth module is off.
This is the actual state.

411

Data Logs

Chapter 3

3.2.19 BSLNXYZ
RTK XYZ baseline
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the receiver’s RTK baseline in ECEF coordinates. The position status field indicates
whether or not the corresponding data is valid. See Figure 94, The WGS84 ECEF Coordinate System on
page 409 for a definition of the ECEF coordinates.
The BSLNXYZ log comes from time-matched base and rover observations such as in the MATCHEDXYZ log
on page 526.
Asynchronous logs, such as BSLNXYZ, should only be logged ONCHANGED. Otherwise, the
most current data is not output when it is available. This is especially true of the ONTIME
trigger, which may cause inaccurate time tags to result.
Message ID:

686

Log Type:

Asynch

Recommended Input:
log bslnxyza onchanged
ASCII Example:
#BSLNXYZA,COM1,0,59.5,FINESTEERING,1419,340033.000,00000040,5b48,2724;
SOL_COMPUTED,NARROW_INT,0.0012,0.0002,-0.0004,0.0080,0.0160,0.0153,"AAAA",
12,12,12,12,0,01,0,33*1a8a1b65
Field

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

BSLNXYZ
header

Log header

H

0

2

sol status

Solution status, see Table 83, Solution Status on page 395 Enum

4

H

3

bsln type

Baseline type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

4

B-X

X-axis offset (m)

Double

8

H+8

5

B-Y

Y-axis offset (m)

Double

8

H+16

6

B-Z

Z-axis offset (m)

Double

8

H+24

7

B-X 

Standard deviation of B-X (m)

Float

4

H+32

8

B-Y 

Standard deviation of B-Y (m)

Float

4

H+36

9

B-Z 

Standard deviation of B-Z (m)

Float

4

H+40

10

stn ID

Base station identification

Char[4] 4

H+44

11

#SVs

Number of satellites tracked

Uchar

1

H+48

12

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+49

OEM6 Firmware Reference Manual Rev 12

412

Data Logs

Field

Chapter 3

Field type

Data Description
Number of GPS plus GLONASS plus BDS L1/B1 used in
solution

Format

Binary
Bytes

Binary
Offset

13

#ggL1

Uchar

1

H+50

14

#solnMultiSVs Number of satellites with L1/E1/B1 signals used in solution Uchar

1

H+51

15

Reserved

1

H+52

16

ext sol stat

Extended solution status (see Table 87, Extended Solution
Hex
Status on page 398)

1

H+53

17

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see Table 85,
BESTPOS Galileo and BeiDou Signal-Used Mask on
page 398)

Hex

1

H+54

18

GPS and
GPS and GLONASS signals used mask (see Table 86,
GLONASS sig BESTPOS GPS and GLONASS Signal-Used Mask on
mask
page 398)

Hex

1

H+55

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+56

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Uchar

OEM6 Firmware Reference Manual Rev 12

413

Data Logs

Chapter 3

3.2.20 CELLULARINFO
Cellular modem and network information
OEM Platform:

ProPak6

This log displays information about the cellular modem and network settings.
Message ID:

1686

Log Type:

Asynch

Recommended Input:
log cellularinfoa once
ASCII Example:
#CELLULARINFOA,COM1,0,72.0,UNKNOWN,0,125.980,014c4020,250d,45068;
"HE910-D","Telit","351579952407038","12.00.023","",""*2566d58f
Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

CELLULARINFO
Log header
header

-

2

make

Modem make

String
a H
[max 20] Variable

3

manufacturer

Modem manufacturer

String
a Variable
[max 20] Variable Max: H+20

4

serial

The International Mobile Equipment Identifier
(IMEI).

String
a Variable
[max 32] Variable Max: H+40

5

version

Modem software version

String
a Variable
[max 64] Variable Max: H+72

6

mdnb

Mobile Directory Number (MDN), the modem phone String
a Variable
number
[max 16] Variable Max: H+136

7

msidb

Mobile Subscriber Identifier (MSID)

H

0

String
a Variable
[max 32] Variable Max: H+152

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.
b. The MDN and MSID fields may be blank (empty strings).
With some carriers, this information cannot be reliably obtained so the fields will not be filled in or will be filled in after some
delay.

OEM6 Firmware Reference Manual Rev 12

414

Data Logs

Chapter 3

3.2.21 CELLULARSTATUS
Cellular modem and network status information
OEM Platform:

ProPak6

This log displays the current status of the cellular modem and the cellular connection.
Message ID:

1685

Log Type:

Asynch

Recommended Input:
log cellularstatusa onchanged
ASCII Example:
#CELLULARSTATUSA,COM1,0,76.0,UNKNOWN,0,1653.887,014c4020,f714,45068;FULL,
REGISTERED_HOME,"196.207.248.183",2,18,"AirTel",12d009a,34,"Normal, unspecified"
*40a40551
Field

Field Type

Description

1

CELLULARSTATUS
Log header
header

2

status

3

net status

4

ip address

5

Binary
Bytes

Format

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

Network-assigned IP address

String
[Max 16]

Variablea H+8

signal

Signal strength as number of bars
(1-4)

Long

4

Variable
Max: H+24

6

rssi

Received Signal Strength Indicator (dBm)

Long

4

Variable
Max: H+28

7

network

Network identification string or NID

String
[Max 20]

Variable
Variablea Max: H+32

8

cellid

Base station cell identifier

Ulong

4

Variable
Max: H+52

9

temperature

Long

4

Variable
Max: H+56

10

last error

Current modem status
See Table 96, Modem Status on page 416
Registration status of the modem on the network.
See Table 97, Network Status on page 416

Modem temperature, if available.
If the temperature is not available, this value is 0.
Last recorded modem error

String
a Variable
[Max 100] Variable Max: H+60

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

415

Data Logs

Chapter 3
Table 96: Modem Status
Modem Status
Description

Binary

ASCII

1

UNKNOWN

2

IN_PROGRESS

Power control is in progress, power state is indeterminate

3

OFF

Radio is powered off

4

SIM_NOT_INSERTED

SIM is not inserted

5

SIM_PASSWORD_REQUIRED

Radio is powered on; SIM password is required; some
functionality is unavailable

6

FULL

Radio is fully powered on
Table 97: Network Status
Network Status
Description

Binary

ASCII

0

NOTREGISTERED_NOTSEARCHING

Not registered and not currently searching for a new
operator to register to.

1

REGISTERED_HOME

Registered on the home network

2

NOTREGISTERED_SEARCHING

Not registered, but currently searching a for new operator
to register to

3

DENIED

Registration denied

4

UNKNOWN

Unknown

5

REGISTERED_ROAMING

Registered on network that is not the home network
(roaming)

OEM6 Firmware Reference Manual Rev 12

416

Data Logs

Chapter 3

3.2.22 CHANCONFIGLIST
Channel configuration list
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log provides the channel configuration list including the number of channels and signal types. If more
than one channel configuration is available, then it can be switched using the SELECTCHANCONFIG
command.
Message ID:

1148

Log Type:

Polled

Recommended Input:
log chanconfiglista once
Abbreviated ASCII Example:
CHANCONFIGLIST COM1 2 73.5 FINESTEERING 1783 585128.718 01000040 d1c0 12793
4 4
6
12 GPSL1L2PL5
2 QZSSL1CAL2CL5
2 SBASL1
10 GLOL1L2
9 GALE1E5AE5BALTBOC
10 BEIDOUB1B2
6
10 GPSL1L2PL2CL5
2 QZSSL1CAL2CL5
2 SBASL1
8 GLOL1L2PL2C
8 GALE1E5AE5BALTBOC
8 BEIDOUB1B2
6
12 GPSL1L2PL5
2 QZSSL1CAL2CL5
2 SBASL1L5
10 GLOL1L2
9 GALE1E5AE5BALTBOC
9 BEIDOUB1B2
6
9 GPSL1L2PL2CL5
2 QZSSL1CAL2CL5
2 SBASL1L5
8 GLOL1L2PL2C
8 GALE1E5AE5BALTBOC
9 BEIDOUB1B2

OEM6 Firmware Reference Manual Rev 12

417

Data Logs

Field

Chapter 3

Field type

Description

CHANCONFIGLIST
header

Log header

2

SetInUse

Current channel configuration being used. For
example, if SetInUse is 2 then the second channel
configuration listed in this log is the current channel
configuration

3

#chanconfigs

4

1

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Number of channel configurations to follow

Ulong

4

H+4

#signaltypes

Total number of signal types in this channel
configuration

Ulong

4

H+8

5

NumChans

Number of channels for individual signal type

Ulong

4

H+12

6

SignalType

See Table 98, CHANCONFIGLIST Signal Type

Ulong

4

H+16

7

Next chanconfig offset = H + 8+ (#chanconfigs * (4 + (#signaltypes * 8)))

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 98: CHANCONFIGLIST Signal Type
Value

Name

0

GPSL1

GPS L1 C/A signal

1

GPSL1L2

GPS L1 C/A and L2P(Y) signal

4

SBASL1

SBAS L1 C/A signal

5

GPSL5

GPS L5 signal

6

GPSL1L2C

GPS L1 C/A and L2C signal

7

GPSL1L2AUTO

GPS L1 C/A and L2 P(Y) or L2C signal

8

GLOL1L2

GLONASS L1 C/A and L2P signal

9

LBAND

L-Band signal

10

GLOL1

GLONASS L1 C/A signal

11

GALE1

Galileo E1 signal

12

GALE5A

Galileo E5a signal

13

GALE5B

Galileo E5b signal

14

GALALTBOC

Galileo E5 AltBOC signal

15

BEIDOUB1

BeiDou B1 signal

16

GPSL1L2PL2C

GPS L1 C/A, L2 P(Y), and L2C signal

OEM6 Firmware Reference Manual Rev 12

418

Data Logs

Chapter 3
Value

Name

17

GPSL1L5

GPS L1 C/A and L5 signal

18

SBASL1L5

SBAS L1 C/A and L5 signal

19

GPSL1L2PL2CL5

GPS L1 C/A, L2 P(Y), L2C, and L5 signal

20

GPSL1L2PL5

GPS L1 C/A, L2 P(Y), and L5 signal

21

GALE1E5AE5B

Galileo E1, E5a, and E5b signal

22

GALE1E5AE5BALTBOC

Galileo E1, E5a, E5b, and E5 AltBOC signal

23

GALE1E5A

Galileo E1 and E5a signal

24

GLOL1L2C

GLONASS L1 C/A and L2C signal

25

GLOL1L2PL2C

GLONASS L1 C/A, L2 P, and L2C signal

26

QZSSL1CA

QZSS L1 C/A signal

27

QZSSL1CAL2C

QZSS L1 C/A and L2C signal

28

QZSSL1CAL2CL5

QZSS L1 C/A, L2C, and L5 signal

29

QZSSL1CAL5

QZSS L1 C/A and L5 signal

30

BEIDOUB1B2

BeiDou B1 and B2 signal

31

GALE1E5B

Galileo E1 and E5b signal

OEM6 Firmware Reference Manual Rev 12

419

Data Logs

Chapter 3

3.2.23 CLOCKMODEL
Current clock model status
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The CLOCKMODEL log contains the current clock model status of the receiver.
Monitoring the CLOCKMODEL log allows you to determine the error in your receiver reference oscillator as
compared to the GNSS satellite reference.
All logs report GPS reference time not corrected for local receiver clock error. To derive the closest GPS
reference time, subtract the clock offset from the GPS reference time reported. The clock offset can be
calculated by dividing the value of the range bias given in field 6 of the CLOCKMODEL log by the speed of
light (c).
The following symbols are used throughout this section:
B=

range bias (m)

BR =

range bias rate (m/s)

SAB =

Gauss-Markov process representing range bias error due to satellite clock dither (m)

The standard clock model now used is as follows:
clock parameters array = [ B

BR

SAB]

covariance matrix =
2

B


BR B


SAB B

Message ID:

16

Log Type:

Synch

 
B BR
2

BR

 
B SAB



BR SAB
2



SAB BR
SAB

Recommended Input:
log clockmodela ontime 1
ASCII Example:
#CLOCKMODELA,COM1,0,52.0,FINESTEERING,1364,489457.000,80000000,98f9,2310;VALID,
0,489457.000,489457.000,7.11142843e+00,6.110131956e-03,-4.93391151e+00,
3.02626565e+01,2.801659017e-02,-2.99281529e+01,2.801659017e-02,2.895779736e-02,
-1.040643538e-02,-2.99281529e+01,-1.040643538e-02,3.07428979e+01,2.113,
2.710235665e-02,FALSE*3d530b9a
The CLOCKMODEL log can be used to monitor the clock drift of an internal oscillator once the
CLOCKADJUST mode has been disabled. Watch the CLOCKMODEL log to see the drift rate
and adjust the oscillator until the drift stops.

OEM6 Firmware Reference Manual Rev 12

420

Data Logs

Field

Chapter 3

Field type

Description

1

CLOCKMODEL
Log header
header

2

clock status

3

Binary Binary
Bytes Offset

Format

H

0

Clock model status as computed from current measurement
Enum
data, see Table 99, Clock Model Status on page 421

4

H

reject

Number of rejected range bias measurements

Ulong

4

H+4

4

noise time

GPS reference time of last noise addition

GPSec 4

H+8

5

update time

GPS reference time of last update

GPSec 4

H+12

8

H+16

6

8

Clock correction parameters (a 1x3 array of length 3), listed
Double 8
left-to-right
8

9

8

H+40

10

8

H+48

11

8

H+56

12

8

H+64

Double 8

H+72

14

8

H+80

15

8

H+88

16

8

H+96

17

8

H+104

7

13

parameters

cov data

Covariance of the straight line fit (a 3x3 array of length 9),
listed left-to-right by rows

H+24
H+32

18

range bias

Last instantaneous measurement of the range bias (metres) Double 8

H+112

19

range bias rate Last instantaneous measurement of the range bias rate (m/s) Double 8

H+120

20

Reserved

21

xxxx

22

[CR][LF]

Bool

4

H+128

32-bit CRC (ASCII and Binary only)

Hex

4

H+132

Sentence terminator (ASCII only)

-

-

-

Table 99: Clock Model Status
Clock Status
(Binary)

Clock Status
(ASCII)

Description

0

VALID

The clock model is valid

1

CONVERGING

The clock model is near validity

2

ITERATING

The clock model is iterating towards validity

3

INVALID

The clock model is not valid

OEM6 Firmware Reference Manual Rev 12

421

Data Logs

Chapter 3

3.2.24 CLOCKSTEERING
Clock steering status
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The CLOCKSTEERING log is used to monitor the current state of the clock steering process. All oscillators
have some inherent drift. By default the receiver attempts to steer the receiver clock to accurately match GPS
reference time. If for some reason this is not desired, this behavior can be disabled using the CLOCKADJUST
command (see page 101).
If the CLOCKADJUST command is ENABLED and the receiver is configured to use an external
reference frequency (set in the EXTERNALCLOCK command (see page 145)), then the clock
steering process takes over the VARF output pins and may conflict with a previously entered
FREQUENCYOUT command (see page 155).
Message ID:

26

Log Type:

Asynch

Recommended Input:
log clocksteeringa onchanged
ASCII Example:
#CLOCKSTEERINGA,COM1,0,56.5,FINESTEERING,1337,394857.051,00000000,0f61,1984;
INTERNAL,SECOND_ORDER,4400,1707.554687500,0.029999999,-2.000000000,-0.224,0.060
*0e218bbc
To configure the receiver to use an external reference oscillator, see the EXTERNALCLOCK
command on page 145.

Field

Field type

Description

1

CLOCKSTEERING
Log header
header

2

source

Clock source, see Table 100, Clock Source on page 423

3
4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

steeringstate

Steering state, see Table 101, Steering State on page 423 Enum

4

H+4

period

Period of the FREQUENCYOUT signal used to control the
oscillator, refer to the FREQUENCYOUT command. This
Ulong
value is set using the CLOCKCALIBRATE command

4

H+8

5

pulsewidth

Current pulse width of the FREQUENCYOUT signal. The
starting point for this value is set using the
CLOCKCALIBRATE command. The clock steering loop
Double 8
continuously adjusts this value in an attempt to drive the
receiver clock offset and drift terms to zero

H+12

6

bandwidth

The current band width of the clock steering tracking loop
in Hz. This value is set using the CLOCKCALIBRATE
Double 8
command

H+20

OEM6 Firmware Reference Manual Rev 12

422

Data Logs

Chapter 3

Field

Field type

Description

Format

Binary Binary
Bytes Offset

7

slope

The current clock drift change in m/s/bit for a 1 LSB pulse
width. This value is set using the CLOCKCALIBRATE
Float
command

4

H+28

8

offset

The last valid receiver clock offset computed (m). It is the
same as Field # 18 of the CLOCKMODEL log (see
Double 8
page 420)

H+32

9

driftrate

The last valid receiver clock drift rate received (m/s). It is
the same as Field # 19 of the CLOCKMODEL log

Double 8

H+40

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 100: Clock Source
Binary

ASCII

Description

0

INTERNAL

The receiver is currently steering its internal
VCTCXO using an internal VARF signal

1

EXTERNAL

The receiver is currently steering an external
oscillator using the external VARF signal

Table 101: Steering State
Binary

ASCII

Description

0

FIRST_ORDER

Upon start-up, the clock steering task adjusts the VARF pulse width to
reduce the receiver clock drift rate to below 1 ms using a 1st order control
loop. This is the normal start-up state of the clock steering loop.

1

SECOND_ORDER

Once the receiver has reduced the clock drift to below 1 m/s, it enters a
second order control loop and attempts to reduce the receiver clock offset
to zero. This is the normal runtime state of the clock steering process.

2

CALIBRATE_HIGH a

This state corresponds to when the calibration process is measuring at the
"High" pulse width setting.

3

CALIBRATE_LOW a

This state corresponds to when the calibration process is measuring at the
"Low" pulse width setting.

4

This state corresponds to the "Center" calibration process. Once the center
has been found, the modulus pulse width, center pulse width, loop
CALIBRATE_CENTER b bandwidth and measured slope values are saved in NVM and are used from
now on for the currently selected oscillator (INTERNAL or EXTERNAL).

a. These states are only seen if you force the receiver to do a clock steering calibration using the CLOCKCALIBRATE
command (see page 102). With the CLOCKCALIBRATE command, you can force the receiver to calibrate the slope
and center pulse width of the currently selected oscillator, to steer. The receiver measures the drift rate at several
"High" and "Low" pulse width settings.
b. After the receiver has measured the "High" and "Low" pulse width setting, the calibration process enters a "Center
calibration" process where it attempts to find the pulse width required to zero the clock drift rate.

OEM6 Firmware Reference Manual Rev 12

423

Data Logs

Chapter 3

3.2.25 CMR Standard Logs
OEM Platform:
CMRDESC
Message ID:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6
BASE Station Description Information
310

CMRGLOOBS CMR Data GLONASS Observations (CMR Type 3 Message)
Message ID: 882
CMROBS
Message ID:

BASE Station Satellite Observation Information
103

CMRPLUS
Message ID:

Base Station Position Information (Low Rate)
717

CMRREF
Message ID:

BASE Station Position Information
105

The Compact Measurement Record (CMR) Format is a standard communications protocol used in Real-Time
Kinematic (RTK) systems to transfer GNSS carrier phase and code observations from a base station to one
or more rover stations.
1. The above messages can be logged with an A or B suffix for an ASCII or Binary output with
a NovAtel header followed by Hex or Binary raw data respectively.
2. No guarantee is made that the OEM6 will meet its performance specifications if nonNovAtel equipment is used to provide differential corrections to the OEM6.
3. Trimble rovers must receive CMRDESC messages from a base.
The CMR message format was developed by Trimble Navigation Ltd. as a proprietary data transmission
standard for use in RTK applications. In 1996, Trimble publicly disclosed this standard and allowed its use by
all manufacturers in the GNSS industry1.
The NovAtel implementation allows a NovAtel rover receiver to operate in RTK mode while receiving
pseudorange and carrier phase data via CMR messages (version 3.0) from either a NovAtel or non-NovAtel
base-station receiver. The NovAtel receiver can also transmit CMR messages (version 3.0). The station ID
must be £ 31 when transmitting CMR corrections. The CMRPLUS output message distributes the base
station information over 14 updates.
The maximum message lengths of the four CMR messages are as follows:
CMROBS = 6 (frame) + 6 (header) + (14*L1 channels) + (14*L2 channels) = (222 bytes max.)
CMRREF = 6 (frame) + 6 (header) + 19 = (31 bytes)
CMRDESC = 6 (frame) + 6 (header) + (variable: 26 to 75) = (38 bytes minimum; 87 bytes max.)
CMRPLUS = 6 (frame) + 3 (header) + 7 = (16 bytes)

1. Talbot, N.C. (1996) “Compact Data Transmission Standard for High-Precision GPS”. ION GPS-96 Conference
Proceedings, Kansas, MO, Sept. 1996, Vol. I, pp. 861-871.

OEM6 Firmware Reference Manual Rev 12

424

Data Logs

Chapter 3

CMR Type 3 RTK Formats
NovAtel CMR Type 3 messages are CMR Type 3 messages as defined by Leica and Topcon.
CMR Type 3 format messages are for GLONASS CMR observations. The CMRGLOOBS log is similar to the
existing CMROBS log.
CMR Type 3 message types (CMRGLOOBS) have their Z count stamped to GLONASS UTC time instead of
GPS reference time (the epoch field in the CMR Header part of the message).
When using CMRGLOOBS in conjunction with CMRREF and CMROBS, to perform GPS + GLONASS RTK
positioning (provided you have a GLONASS-capable receiver model).
CMR Type 3 Example Setup
In the example below, apply Steps #1 and #2 to the base and Step #3 to the rover.
1. Use the INTERFACEMODE command to set up the base port’s receive mode as NONE and transmit mode
as CMR:
interfacemode com2 none cmr
2. Log out CMRREF, CMROBS and CMRGLOOBS 1 messages:
log com2 CMRREF ontime 10
log com2 CMROBS ontime 1
log com2 CMRGLOOBS ontime 1
log com2 CMRDDESC ontime 10
We recommend that you log CMROBS and CMRGLOOBS messages out at
the same rate.
3. Set up the rover receiver to use incoming CMR messages by setting the rover port’s receive mode as
CMR and the transmit mode as NONE:
interfacemode com2 CMR none

Using AdVance RTK with CMR Format Messages
To enable receiving CMR messages, follow these steps:
1. Issue the SERIALCONFIG command (see page 271), to the rover receiver to set its serial port
parameters to the proper bit rate parity and so on.
2. Issue the INTERFACEMODE COMn CMR command to the rover receiver, where “COMn” refers to the
communication port that is connected to the data link. See also the INTERFACEMODE command on
page 176.

1. These correspond to reference station data, GPS observations and GLONASS observations respectively.

OEM6 Firmware Reference Manual Rev 12

425

Data Logs

Chapter 3

To send CMR messages, periodically transmit the three following CMR messages at the base station:
•

A CMROBS message that contains base station satellite observation information. It should be sent
once every 1 or 2 seconds.

•

A CMRREF message that contains base station position information. It should be sent once every 10
seconds. Also, the rover receiver automatically sets an approximate position from this message if it
does not already have a position. Therefore, this message can be used in conjunction with an
approximate time to improve Time to First Fix (TTFF). For more information about TTFF, refer to An
Introduction to GNSS, available on our website at www.novatel.com/support/.

•

A CMRDESC message that contains base station description information. It should be sent once
every 10 seconds and be interlinked with the CMRREF message.

Assuming that the base station is transmitting valid data, your rover receiver begins to operate in AdVance
RTK mode.
1. For CMR, the station ID must be less than 31 (refer to the DGPSTXID command on
page 121 and the RTKSOURCE command on page 255).
2. CMRDESC is logged with an offset of 5 to allow interleaving with CMRREF. Note that
Trimble rovers must receive CMRDESC messages from a base.
3. NovAtel CMR Type 2 messages are for compatibility only. Type 2 provides a reference
station description message that is required by some manufacturers’ rovers before CMR
messages are used. When received, a Type 2 message is discarded. For transmission, all
fields are permanently set as follows:
Record Length = 33 bytes
Short Station ID = "cref"
COGO Code = ""
Long Station ID = "UNKNOWN"
Example Input:
interfacemode com2 none CMR
fix position 51.116372360734 -114.038308797 1047.575
log com2 cmrobs ontime 1
log com2 cmrref ontime 10
log com2 cmrdesc ontime 10 5
log com2 cmrgloobs ontime 1

OEM6 Firmware Reference Manual Rev 12

426

Data Logs

Chapter 3

3.2.26 COMCONFIG
COMCONFIG is replaced with the SERIALCONFIG command (see page 271) which can act as a
log when parameters are not defined.

OEM6 Firmware Reference Manual Rev 12

427

Data Logs

Chapter 3

3.2.27 DIRENT
Onboard memory file list
OEM Platform:

638, ProPak6

The DIRENT log contains the current file contents of the receiver's onboard memory. Up to 512 files can be
listed using this message.
The date and time for the DIRENT log is in UTC (Universal Coordinated Time). If the receiver has no
almanac, UTC is unavailable.
The Date of Last Change field has 4 decimal digits reserved for the year, followed by 2 decimal digits
reserved for the month, and 2 decimal digits for the day.
Example: Date of September 5, 2013
Date of Last Change field for this date when converted to a Ulong has a value of 20130905. The
following steps can be used to obtain the various parts of the Date of Last Change field:
Ulong Year = (Ulong)(DateOfLastChange / 10000)
Ulong Month = (Ulong)( (DateOfLastChange - (Year * 10000)) / 100)
Ulong Day = (Ulong)( DateOfLastChange - (Year * 10000) - (Month * 100) )
The Time of Last Change field is similar to the Date of Last Change field, in that the value of the field has
2 decimal digits reserved for the hour, followed by 2 decimal digits for the minutes, and 2 decimal digits
for the seconds.
Example: Time of 16:01:25
Time of Last Change field when converted to a Ulong has a value of 160125. The following steps can be
used to obtain the various parts of the Time of Last Change field:
Ulong Hour = (Ulong)(TimeOfLastChange / 10000)
Ulong Minutes = (Ulong)( (TimeOfLastChange - (Hour * 10000)) / 100)
Ulong Seconds = (Ulong)( TimeOfLastChange - (Hour * 10000) - (Minutes * 100))
Message ID: 159
Log Type: Polled
Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

DIRENT Header

Log header

-

2

Filename

File name

Char[ ]

128

H

3

Sizebytes

Bytes size (bytes)

Ulong

4

H+128

4

Sizepackets

Packet size (packets)

Ulong

4

H+132

5

Lastchangedate

Date of last change (yyyymmdd)

Ulong

4

H+136

6

Lastchangetime

Time of last change (hhmmss)

Ulong

4

H+140

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

0

428

Data Logs

Chapter 3

3.2.28 ETHSTATUS
Current Ethernet status
OEM Platform:

628, 638, FlexPak6, ProPak6

This log provides the current status of the Ethernet ports.
Message ID:

1288

Log Type:

Polled

Recommended Input:
log ethstatusa once
ASCII Example:
#ETHSTATUSA,COM1,0,89.5,FINESTEERING,1609,500138.174,00000000,e89d,6259;1,ETHA,
"00-21-66-00-05-A2",100_FULL*98d86b04
Field

Field Type

Description

Binary
Bytes

Format

Binary Offset

1

ETHSTATUS
header

Log header

-

H

0

2

#of interfaces

Number of records to follow

Ulong

4

H

3

interface

Name of the Ethernet interface (e.g., ETHA)

Enum

4

H+4

4

MAC address

An identifier assigned to the network adapters
String [18] variablea H+8
or network interface card

5

interface
configuration

Current connectivity, speed and duplex
settings of the Ethernet interface

Enum

4

H+26

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+(# of
interfaces * 26)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

Refer to the ETHCONFIG command (see page 140) for enum values.

OEM6 Firmware Reference Manual Rev 12

429

Data Logs

Chapter 3

3.2.29 GALALMANAC
Decoded Galileo Almanac
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the decoded Galileo almanac parameters from Galileo navigation messages. Multiple
messages are transmitted, one for each satellite ID with data.
Message ID:

1120

Log Type:

Asynch

Recommended Input:
log galalmanaca onchanged
ASCII Example:
#GALALMANACA,COM1,3,83.5,SATTIME,1769,333371.000,00000020,131f,45362;19,FALSE,
TRUE,0,0,0,0,10,745,332400.000,1.221e-04,-5.486e-09,2.757e+00,2.038e+00,
-1.226e+00,-1.1444e-05,0.000,2.539e-02,-1.457e-02*5c77f44b
#GALALMANACA,COM1,2,83.5,SATTIME,1769,333399.000,00000020,131f,45362;20,FALSE,
TRUE,0,0,0,0,10,745,332400.000,1.831e-04,-5.486e-09,2.757e+00,1.542e+00,
-3.1734e-02,4.8084e-03,9.495e-10,2.539e-02,-1.457e-02*3530e391
#GALALMANACA,COM1,1,83.5,SATTIME,1769,333939.000,00000020,131f,45362;11,FALSE,
TRUE,0,0,0,0,11,745,333000.000,6.104e-05,-5.120e-09,6.6412e-01,2.396e+00,
-1.032e+00,5.1498e-05,1.091e-11,3.125e-02,-1.764e-02*afa0f631
#GALALMANACA,COM1,0,83.5,SATTIME,1769,333941.000,00000020,131f,45362;12,FALSE,
TRUE,0,0,0,0,11,745,333000.000,1.526e-04,-5.120e-09,6.6412e-01,-2.392e+00,
-1.818e+00,6.4850e-05,1.091e-11,3.516e-02,-1.764e-02*ef41e1b2
Field

Field Type

Description

1

GALALMANAC
header

Log header

2

SatId

Satellite ID

3

FNAVReceived

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Indicates FNAV almanac data received

Bool

4

H+4

INAVReceived

Indicates INAV almanac data received

Bool

4

H+8

5

E1BHealth

E1B health status bits (only valid if INAVReceived is TRUE) Uchar

1

H+12

6

E5aHealth

E5a health status bits (only valid if FNAVReceived is TRUE) Uchar

1

H+13

7

E5bHealth

E5b health status bits (only valid if INAVReceived is TRUE) Uchar

1

H+14

8

Reserved

Uchar

1

H+15

9

IODa

Almanac issue of data

Ulong

4

H+16

10

Weeks

Almanac reference week

Ulong

4

H+20

11

Seconds

Almanac reference time of week (seconds for ASCII,
milliseconds for binary)

GPSec 4

H+24

OEM6 Firmware Reference Manual Rev 12

430

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary Binary
Bytes Offset

12

Ecc

Eccentricity

Double 8

H+28

13

OmegaDot

Rate of right ascension

Double 8

H+36

14

Omega0

Right ascension

Double 8

H+44

15

Omega

Argument of perigee

Double 8

H+52

16

M0

Mean anomaly at ref time

Double 8

H+60

17

Af0

Satellite clock correction bias

Double 8

H+68

18

Af1

Satellite clock correction linear

Double 8

H+76

19

DeltaRootA

Difference with respect to the square root of the nominal
semi-major axis

Double 8

H+84

20

DeltaI

Inclination at reference time relative to I0 = 56 deg

Double 8

H+92

21

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+100

22

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

431

Data Logs

Chapter 3

3.2.30 GALCLOCK
Galileo clock information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the Galileo time information.
This log is populated from both the INAV and FNAV messages. Depending on the data source,
it is possible that the time in the header of the log may be earlier than the time in a previous log.
This is expected behavior.
Message ID:

1121

Log Type:

Asynch

Recommended Input:
log galclocka onchanged
ASCII Example:
#GALCLOCKA,COM1,0,84.5,SATTIME, 1769,336845.000,00000020,c6cf,45362;
8.381903172e-09,-3.5527137e-15,16,259200,233,28,7,16,-3.5216e-09,-1.776e-14,
345600,41*186e9085
Field

Field Type

Description

1

GALCLOCK
Log header
header

2

A0

Constant term of polynomial

3

A1

4

Format

Binary Binary
Bytes Offset
H

0

Double

8

H

1st order term of polynomial

Double

8

H+8

DeltaTls

Leap second count before leap second adjustment

Long

4

H+16

5

Tot

UTC data reference time of week (seconds)

Ulong

4

H+20

6

WNt

UTC data reference week number

Ulong

4

H+24

7

WNlsf

Week number of leap second adjustment

Ulong

4

H+28

8

DN

Day number at the end of which a leap second adjustment
becomes effective

Ulong

4

H+32

9

DeltaTlsf

Leap second count after leap second adjustment

Long

4

H+36

10

A0g

Constant term of the polynomial describing the difference
between Galileo and GPS time

Double

8

H+40

11

A1g

Rate of change of offset the offset between Galileo and GPS
time

Double

8

H+48

12

T0g

Reference time for GGTO data

Ulong

4

H+56

13

WN0g

Week number of GGTO reference

Ulong

4

H+60

14

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+64

15

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

432

Data Logs

Chapter 3

3.2.31 GALEPHEMERIS
Decoded Galileo Ephemeris
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains Galileo ephemeris information.Multiple messages are transmitted, one for each SVID with
date.
The GALEPHEMERIS log is being deprecated and will be removed in a future release. Use the
GALINAVEPHEMERIS and GALFNAVEMPHEMERIS logs for Galileo ephemeris data.
This log is populated from both the INAV and FNAV messages. Depending on the data source,
it is possible that the time in the header of the log may be earlier than the time in a previous log.
This is expected behavior.
Message ID:

1122

Log Type:

Asynch

Recommended Input:
log galephemerisa onchanged
ASCII Example:
#GALEPHEMERISA,COM1,3,84.0,SATTIME,1769,336895.000,00000020,ddc6,45362;20,FALSE
,TRUE,0,0,0,0,0,0,107,0,48,336000,5.44061421e+03,3.3351e-09,4.135230286e-01,
1.833668211e-04,1.54330383e+00,-5.1595e-07,1.0144e-05,1.245e+02,-1.206e+01,
3.7253e-09,6.8918e-08,9.628509837e-01,-7.5646e-10,2.75683149e+00,
-5.4634419e-09,0,0.000000000,0.000000,0.0,336000,4.811083607e-03,9.504078e-10,
0.0,3.260e-09,3.492e-09*4a101918
#GALEPHEMERISA,COM1,2,84.0,SATTIME,1769,336055.000,00000020,ddc6,45362;12,FALSE
,TRUE,0,0,0,0,0,0,107,0,46,334800,5.44062124e+03,2.7433e-09,-1.59939066e+00,
1.471719006e-04,-2.38667040e+00,-4.3102e-06,1.4253e-05,2.994e+01,-9.513e+01,
2.6077e-08,4.8429e-08,9.596726435e-01,6.8789e-10,6.640948000e-01,
-5.2684337e-09,0,0.000000000,0.000000,0.0,334800,6.539805327e-05,1.249134e-11,
0.0,-2.328e-09,-2.095e-09*06a29c83
#GALEPHEMERISA,COM1,1,84.0,SATTIME,1769,336655.000,00000020,ddc6,45362;19,FALSE
,TRUE,0,0,0,0,0,0,107,0,47,335400,5.44061331e+03,3.3259e-09,-8.547636369e-01,
1.281467266e-04,2.03894226e+00,-4.9546e-07,9.9950e-06,1.260e+02,-1.138e+01,
9.8720e-08,0.0000,9.628405311e-01,-8.1611e-10,2.75686609e+00,-5.4988005e-09,
0,0.000000000,0.000000,0.0,335400,-1.169519965e-05,-4.831691e-13,0.0,3.958e-09,
4.657e-09*6ae89727
#GALEPHEMERISA,COM1,0,84.0,SATTIME,1769,336895.000,00000020,ddc6,45362;11,FALSE
,TRUE,0,0,0,0,0,0,107,0,48,336000,5.44062407e+03,2.7673e-09,-6.419769592e-01,
6.538478192e-05,2.37749875e+00,-4.5095e-06,1.4078e-05,3.494e+01,-9.647e+01,
2.6077e-08,2.2352e-08,9.596617345e-01,6.5467e-10,6.641122644e-01,
-5.2645050e-09,0,0.000000000,0.000000,0.0,336000,5.154800601e-05,1.030287e-11,
0.0,-4.889e-09,-6.054e-09*b19baef3

OEM6 Firmware Reference Manual Rev 12

433

Data Logs

Field

Chapter 3

Field Type

Description

1

GALEPHEMERIS
Log header
header

2

SatId

Satellite ID

3

FNAVReceived

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Indicates FNAV ephemeris data received

Bool

4

H+4

INAVReceived

Indicates INAV ephemeris data received

Bool

4

H+8

5

E1BHealth

E1B health status bits (only valid if INAVReceived is TRUE)

Uchar

1

H+12

6

E5aHealth

E5a health status bits (only valid if FNAVReceived is TRUE) Uchar

1

H+13

7

E5bHealth

E5b health status bits (only valid if INAVReceived is TRUE)

Uchar

1

H+14

8

E1BDVS

E1B data validity status (only valid if INAVReceived is TRUE) Uchar

1

H+15

9

E5aDVS

E5a data validity status (only valid if FNAVReceived is TRUE) Uchar

1

H+16

10

E5bDVS

E5b data validity status (only valid if INAVReceived is TRUE) Uchar

1

H+17

11

SISA Index

Signal in space accuracy (unitless)

Uchar

1

H+18

12

Reserved

Uchar

1

H+19

13

IODNav

Issue of data ephemeris

Ulong

4

H+20

14

T0e

Ephemeris reference time (s)

Ulong

4

H+24

15

RootA

Square root of semi-major axis

Double 8

H+28

16

DeltaN

Mean motion difference (radians/s)

Double 8

H+36

17

M0

Mean anomaly at ref time (radians)

Double 8

H+44

18

Ecc

Eccentricity (unitless)

Double 8

H+52

19

Omega

Argument of perigee (radians)

Double 8

H+60

20

Cuc

Amplitude of the cosine harmonic correction term to the
argument of latitude (radians)

Double 8

H+68

21

Cus

Amplitude of the sine harmonic correction term to the
argument of latitude (radians)

Double 8

H+76

22

Crc

Amplitude of the cosine harmonic correction term to the orbit
Double 8
radius (m)

H+84

23

Crs

Amplitude of the sine harmonic correction term to the orbit
radius (m)

H+92

24

Cic

Amplitude of the cosine harmonic correction term to the angle
Double 8
of inclination (radians)

H+100

25

Cis

Amplitude of the sine harmonic correction term to the angle of
Double 8
inclination (radians)

H+108

26

I0

Inclination angle at ref time (radians)

H+116

OEM6 Firmware Reference Manual Rev 12

Double 8

Double 8

434

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary Binary
Bytes Offset

27

IDot

Rate of inclination angle (radians/s)

Double 8

H+124

28

Omega0

Longitude of ascending node of orbital plane at weekly epoch
Double 8
(radians)

H+132

29

OmegaDot

Rate of right ascension (radians/s)

H+140

30

FNAVT0c

Clock correction data reference time of week from the F/NAV
Ulong
message (s). Only valid if FNAVReceived is TRUE

4

H+148

31

FNAVAf0

SV clock bias correction coefficient from the F/NAV message
Double 8
(s). Only valid if FNAVReceived is TRUE

H+152

32

FNAVAf1

SV clock drift correction coefficient from the F/NAV message
Double 8
(s/s). Only valid if FNAVReceived is TRUE

H+160

33

FNAVAf2

SV clock drift rate correction coefficient from the F/NAV
message (s/s^2). Only valid if FNAVReceived is TRUE

H+168

34

INAVT0c

Clock correction data reference time of week from the I/NAV
Ulong
message (s). Only valid if INAVReceived is TRUE

4

H+176

35

INAVAf0

SV clock bias correction coefficient from the I/NAV message
Double 8
(s). Only valid if INAVReceived is TRUE

H+180

36

INAVAf1

SV clock drift correction coefficient from the I/NAV message
Double 8
(s/s). Only valid if INAVReceived is TRUE

H+188

37

INAVAf2

SV clock drift rate correction coefficient from the I/NAV
message (s/s^2). Only valid if INAVReceived is TRUE

Double 8

H+196

38

E1E5aBGD

E1, E5a broadcast group delay

Double 8

H+204

39

E1E5bBGD

E1, E5b broadcast group delay. Only valid if INAVReceived is
Double 8
TRUE

H+212

40

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+220

41

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

Double 8

Double 8

435

Data Logs

Chapter 3

3.2.32 GALFNAVEPHEMERIS
Decoded Galileo FNAV Ephemeris
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The GALFNAVEPHEMERIS log contains the Galileo FNAV ephemeris information. Multiple messages are
transmitted, one for each satellite ID with date.
Message ID: 1310
Log Type: Asynch
Recommended Input:
log galfnavephemerisa onchanged
ASCII Example:
#GALFNAVEPHEMERISA,COM2,0,82.5,SATTIME,1874,148850.000,02400000,02cd,32768;22,0
,0,0,0,118,122,0,147600,147600,-6.101167919e-01,3.1687e-09,4.478077171e04,5.44059147e+03,9.639218456e-01,6.4610e-10,2.329679501e-01,2.55827293e+00,5.5577315e-09,1.0207e-06,8.2552e-06,1.611e+02,2.313e+01,4.0978e-08,-1.8626e09,1.335504232e-03,1.768257e-10,0.0,2.561e-09*d02e28ca
Field

Field Type

Description

1

GALFNAVEPHEMERIS
Log Header
header

2

SatId

Satellite identifier

3

E5aHealth

4

E5aDVS

5

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

E5a health status bits

Uchar

1

H+4

E5a data validity status

Uchar

1

H+5

Reserved

Uchar

1

H+6

6

Reserved

Uchar

1

H+7

7

IODnav

Issue of data ephemeris

Ushort

2

H+8

8

SISA Index

Signal in space accuracy (unitless)

Uchar

1

H+10

9

Reserved

Uchar

1

H+11

10

T0e

Ephemeris reference time (s)

Ulong

4

H+12

11

T0c

Clock correction data reference time of week from
the F/NAV message (s).

Ulong

4

H+16

12

M0

Mean anomaly at ref time (radians)

Double 8

H+20

13

DeltaN

Mean motion difference (radians/s)

Double 8

H+28

14

Ecc

Eccentricity (unitless)

Double 8

H+36

15

RootA

Square root of semi-major axis

Double 8

H+44

16

I0

Inclination angle at ref time (radians)

Double 8

H+52

OEM6 Firmware Reference Manual Rev 12

436

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary Binary
Bytes Offset

17

IDot

Rate of inclination angle (radians/s)

Double 8

H+60

18

Omega0

Longitude of ascending node of orbital plane at
weekly epoch (radians)

Double 8

H+68

19

Omega

Argument of perigee (radians)

Double 8

H+76

20

OmegaDot

Rate of right ascension (radians/s)

Double 8

H+84

21

Cuc

Amplitude of the cosine harmonic correction term to
Double 8
the argument of latitude (radians)

H+92

22

Cus

Amplitude of the sine harmonic correction term to
the argument of latitude (radians)

Double 8

H+100

23

Crc

Amplitude of the cosine harmonic correction term to
Double 8
the orbit radius (m)

H+108

24

Crs

Amplitude of the sine harmonic correction term to
the orbit radius (m)

Double 8

H+116

25

Cic

Amplitude of the cosine harmonic correction term to
Double 8
the angle of inclination (radians)

H+124

26

Cis

Amplitude of the sine harmonic correction term to
the angle of inclination (radians)

Double 8

H+132

27

Af0

SV clock bias correction coefficient from the F/NAV
Double 8
message (s).

H+140

28

Af1

SV clock drift correction coefficient from the F/NAV
message (s/s).

Double 8

H+148

29

Af2

SV clock drift rate correction coefficient from the
F/NAV message (s/s^2).

Double 8

H+156

30

E1E5aBGD

E1, E5a broadcast group delay

Double 8

H+164

31

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+172

32

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

437

Data Logs

Chapter 3

3.2.33 GALFNAVRAWPAGE
Raw Galileo FNAV page data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw Galileo FNAV page data.
Message ID:

1413

Log Type:

Asynch

Recommended Input:
log galfnavrawpagea onchanged
ASCII Example:
#GALFNAVRAWPAGEA,USB3,0,85.0,SATTIME,1680,434410.000,00000008,d4fb,43274;56,11,
0b818df50ad5ffc151001baffdaa04d5dae655e17affc8a41a83aa*5955b14d
Field

Field Type

Description

Format

Binary Binary
Bytes Offset

1

GALFNAVRAWPAGE
header

Log header

2

SigChanNum

Signal channel providing the data

3

SatId

SVID of transmitting satellite

4

RawFrameData

Raw F/NAV page (214 bits). Does not include CRC or
Hex[27] 27
Tail bits

H+8

5

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+35

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

H

0

Ulong

4

H

Ulong

4

H+4

438

Data Logs

Chapter 3

3.2.34 GALINAVEPHEMERIS
Decoded Galileo INAV Ephemeris
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The GALINAVEPHEMERIS log contains the Galileo INAV ephemeris information. Multiple messages are
transmitted, one for each SVID with date.
Message ID: 1309
Log Type: Asynch
Recommended Input:
log galinavephemerisa onchanged
ASCII Example:
#GALINAVEPHEMERISA,COM2,0,83.5,SATTIME,1874,148255.000,02000000,dbe9,32768;22,0
,0,0,0,0,0,0,0,117,122,3,147000,147000,-6.844124251e-01,3.1683e09,4.479445051e-04,5.44059175e+03,9.639214579e-01,6.4717e-10,2.329712680e01,2.55818235e+00,-5.5566600e-09,9.5367e-07,8.2646e06,1.609e+02,2.203e+01,3.9116e-08,-3.7253e-09,1.335399167e-03,1.767830e10,0.0,2.561e-09,1.863e-09*211734d9
Field

Field Type

Description

1

GALINAVEPHEMERIS
Log Header
header

2

SatId

Satellite identifier

3

E5bHealth

4

E5bDVS

5

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

E5b health status bits

Uchar

1

H+4

E5b data validity status

Uchar

1

H+5

Reserved

Uchar

1

H+6

6

Reserved

Uchar

1

H+7

7

E1bHealth

E1b health status bits

Uchar

1

H+8

8

E1bDVS

E1b data validity status

Uchar

1

H+9

9

Reserved

Uchar

1

H+10

10

Reserved

Uchar

1

H+11

11

IODnav

Issue of data ephemeris

Ushort

2

H+12

12

SISA Index

Signal in space accuracy (unitless)

Uchar

1

H+14

Uchar

1

H+15

Ulong

4

H+16

Identifies the source signal:
13

INAV Source

14

T0e

0 = Unknown
1 = E1b
2 = E5b
3 = E1b and E5b
Ephemeris reference time (s)

OEM6 Firmware Reference Manual Rev 12

439

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary
Bytes

Binary
Offset

15

T0c

Clock correction data reference time of week from
the I/NAV message (s).

Ulong

4

H+20

16

M0

Mean anomaly at ref time (radians)

Double 8

H+24

17

DeltaN

Mean motion difference (radians/s)

Double 8

H+32

18

Ecc

Eccentricity (unitless)

Double 8

H+40

19

RootA

Square root of semi-major axis

Double 8

H+48

20

I0

Inclination angle at ref time (radians)

Double 8

H+56

21

IDot

Rate of inclination angle (radians/s)

Double 8

H+64

22

Omega0

Longitude of ascending node of orbital plane at
weekly epoch (radians)

Double 8

H+72

23

Omega

Argument of perigee (radians)

Double 8

H+80

24

OmegaDot

Rate of right ascension (radians/s)

Double 8

H+88

25

Cuc

Amplitude of the cosine harmonic correction term to
Double 8
the argument of latitude (radians)

H+96

26

Cus

Amplitude of the sine harmonic correction term to
the argument of latitude (radians)

Double 8

H+104

27

Crc

Amplitude of the cosine harmonic correction term to
Double 8
the orbit radius (m)

H+112

28

Crs

Amplitude of the sine harmonic correction term to
the orbit radius (m)

Double 8

H+120

29

Cic

Amplitude of the cosine harmonic correction term to
Double 8
the angle of inclination (radians)

H+128

30

Cis

Amplitude of the sine harmonic correction term to
the angle of inclination (radians)

Double 8

H+136

31

Af0

SV clock bias correction coefficient from the I/NAV
Double 8
message (s).

H+144

32

Af1

SV clock drift correction coefficient from the I/NAV
Double 8
message (s/s).

H+152

33

Af2

SV clock drift rate correction coefficient from the
I/NAV message (s/s^2).

Double 8

H+160

34

E1E5aBGD

E1, E5a broadcast group delay

Double 8

H+168

35

E1E5bBGD

E1, E5b broadcast group delay

Double 8

H+176

36

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+184

37

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

440

Data Logs

Chapter 3

3.2.35 GALINAVRAWWORD
Raw Galileo INAV word data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw Galileo INAV word data.
Message ID:

1414

Log Type:

Asynch

Recommended Input:
log galinavrawworda onchanged
ASCII Example:
#GALINAVRAWWORDA,USB3,0,84.5,SATTIME,1680,434401.000,00000008,884b,43274;55,11,
GALE1,0b81e655e17a26eb5237d7d20088ffc9*dcb4bedb
Field

Field Type

Description

1

GALINAVRAWWORD
header

Log header

2

SigChanNum

Signal channel providing data

3

SatId

Satellite ID of transmitting satellite

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Ulong

4

H+4

SignalType

Signal Type as defined in Table 27, Signal Type on
Enum
page 126

4

H+8

5

RawFrameData

Raw I/NAV word (128 bits)

Hex[16]

16

H+12

6

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+28

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

441

Data Logs

Chapter 3

3.2.36 GALIONO
Decoded Galileo ionospheric corrections
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the decoded Galileo ionospheric corrections.
Message ID:

1127

Log Type:

Asynch

Recommended Input:
log galionoa onchanged
ASCII Example:
#GALIONOA,COM1,0,84.0,SATTIME,1686,503485.000,00000020,d22e,10636;
100.000000000,0.000000000,0.000000000,0,0,0,0,0*5215b367
Field

Field Type

Description

1

GALIONO
header

Log header

2

Ai0

Effective ionization level 1st order parameter (sfu)

3

Ai1

4

Format

Binary Binary
Bytes Offset
H

0

Double

8

H

Effective ionization level 2st order parameter (sfu/degree)

Double

8

H+8

Ai2

Effective ionization level 3st order parameter (sfu/degree^2)

Double

8

H+16

5

SF1

Ionospheric disturbance flag for region 1

Uchar

1

H+24

6

SF2

Ionospheric disturbance flag for region 2

Uchar

1

H+25

7

SF3

Ionospheric disturbance flag for region 3

Uchar

1

H+26

8

SF4

Ionospheric disturbance for flag region 4

Uchar

1

H+27

9

SF5

Ionospheric disturbance for flag region 5

Uchar

1

H+28

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+29

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

442

Data Logs

Chapter 3

3.2.37 GLMLA
NMEA GLONASS Almanac data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log outputs almanac data for GLONASS satellites. Multiple sentences are transmitted, one for each
satellite.
The following relationships enable translation between the NMEA GLONASS satellite IDs, the
NovAtel GLONASS PRN IDs, and the GLONASS slot numbers:
NMEA GLONASS satellite ID = GLONASS slot number + 64
NovAtel GLONASS PRN ID

= GLONASS slot number + 37
= NMEA GLONASS satellite ID - 27

Message ID:

859

Log Type:

Asynch

Recommended Input:
log glmlaa onchanged
ASCII Example:
$GLMLA,16,01,65,1176,07,0496,4c,5ff2,8000,34c05e,0e93e8,04b029,001fa2,099,213*68
$GLMLA,16,02,66,1176,01,12e3,4c,42cc,8000,34c08e,10fae9,02f48c,00224e,099,003*64
$GLMLA,16,03,67,1176,8c,08f6,4a,ef4d,8000,34c051,13897b,00d063,001b09,099,000*63
$GLMLA,16,04,68,1176,06,116b,48,3a00,8000,34c09d,02151f,0e49e8,00226e,099,222*63
$GLMLA,16,05,70,1176,01,140f,49,45c4,8000,34c0bc,076637,0a3e40,002214,099,036*37
$GLMLA,16,06,71,1176,05,0306,4c,5133,8000,34c025,09bda7,085d84,001f83,099,21d*6E
$GLMLA,16,07,72,1176,06,01b1,4c,4c19,8000,34c021,0c35a0,067db8,001fca,099,047*3D
$GLMLA,16,08,74,1176,84,076b,45,7995,8000,34c07b,104b6d,0e1557,002a38,099,040*35
$GLMLA,16,09,78,1176,84,066c,46,78cf,8000,34c07b,0663f0,1a6239,0029df,099,030*38
$GLMLA,16,10,79,1176,80,0afc,45,8506,8000,34c057,08de48,1c44ca,0029d7,099,000*6B
$GLMLA,16,11,82,1176,8a,12d3,0f,e75d,8000,34be85,10aea6,1781b7,00235a,099,207*6E
$GLMLA,16,12,83,1176,03,0866,0f,6c08,8000,34c009,11f32e,18839d,002b22,099,214*36
$GLMLA,16,13,85,1176,88,01a6,0d,9dc9,8000,34bff8,031887,02da1e,002838,099,242*6D
$GLMLA,16,14,86,1176,8a,00e1,0e,4b15,8000,34c016,058181,010433,0027f0,099,227*6F
$GLMLA,16,15,87,1176,03,0383,0f,824c,8000,34bfda,081864,1104ea,002b04,099,00c*60
$GLMLA,16,16,88,1176,02,0821,0f,8ac8,8000,34c05b,0a8510,12dcb6,002b6f,099,020*3F



Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

OEM6 Firmware Reference Manual Rev 12

443

Data Logs
Field

Chapter 3

Structure

Description

Symbol

Example

1

$GLMLA

Log header

$GLMLA

2

#alm

Number of NMEA almanac messages in the set

x.x

16

3

alm#

Current message number

x.x

13

4

slot

Slot number for satellite (65-96) a

xx

85

5

N

Calendar day count within the four year period from the last leap year x.x

1176

6

hlth & freq

Health and frequency for satellite b

hh

88

7

ecc

Eccentricity c

hhhh

01a6

8

Tdot

Rate of change of orbital period (s/orbital period2) c

hh

0d

9

w

Argument of perigee (PZ-90.02), in radians c

hhhh

9dc9

10

t16MSB

Clock offset, in seconds c

hhhh

8000

11

T

Correction to the mean value of the Draconian period
(s/orbital period) c

hhhhhh

34bff8

12

t

GLONASS Time of ascending node equator crossing, in seconds c

hhhhhhh

031887

13

l

Longitude of ascending node equator crossing (PZ-90.02), in radians c hhhhhhh

02da1e

14

i

Correction to nominal inclination, in radians c

hhhhhhh

002838

15

t12LSB

Clock offset, in seconds c

hhh

099

16

t

Coarse value of the time scale shift c

hhh

242

17

xxxx

32-bit CRC (ASCII and Binary only)

Hex

*6D

18

[CR][LF]

Sentence terminator (ASCII only)

-

[CR][LF]

a. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers are 1 to 24 which give
the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on-orbit spares.
b. Health and carrier frequency numbers are represented in this 2-character Hex field as:

c. The LSB of the Hex data field corresponds to the LSB of the word indicated in the Table 4.3 of the GLONASS Interface
Control Document, 1995. If the number of available bits in the Hex field is greater than the word, the MSB (upper bits) are
unused and filled with zeroes.

OEM6 Firmware Reference Manual Rev 12

444

Data Logs

Chapter 3

3.2.38 GLOALMANAC
Decoded GLONASS Almanac
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The GLONASS almanac reference time and week are in GPS reference time coordinates. GLONASS
ephemeris information is available through the GLOEPHEMERIS command (see page 449).
Nominal orbit parameters of the GLONASS satellites are as follows:
•

Draconian period - 11 hours 15 minutes 44 seconds (see fields 14 and 15 in the following table)

•

Orbit altitude - 19100 km

•

Inclination - 64.8 (see field 11)

•

Eccentricity - 0 (see field 12)

Message ID:

718

Log Type:

Asynch

Recommended Input:
log gloalmanaca onchanged
ASCII Example:
#GLOALMANACA,COM1,0,52.5,SATTIME,1364,410744.000,00000000,ba83,2310;
24,
1364,336832.625,1,2,0,0,2018.625000000,-2.775537500,0.028834045,0.001000404,
2.355427500,-2656.076171875,0.000000000,0.000091553,
1364,341828.437,2,1,0,0,7014.437500000,-3.122226146,0.030814438,0.004598618,
1.650371580,-2656.160156250,0.000061035,0.000095367,
1364,347002.500,3,12,0,0,12188.500000000,2.747629236,0.025376596,0.002099991,
-2.659059822,-2656.076171875,-0.000061035,-0.000198364,
1364,351887.125,4,6,0,0,17073.125000000,2.427596502,0.030895332,0.004215240,
1.438586358,-2656.167968750,-0.000061035,0.000007629,
.
.
.
1364,364031.187,23,11,0,1,29217.187500000,0.564055522,0.030242192,0.001178741,
2.505278248,-2655.957031250,0.000366211,0.000019073,
1364,334814.000,24,3,0,1,0.000000000,0.000000000,0.000000000,0.000000000,
0.000000000,0.000000000,0.000000000,0.000000000*4dc981c7
Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

OEM6 Firmware Reference Manual Rev 12

445

Data Logs

Field

Chapter 3

Field type

Description

1

GLOALMANAC
Log header
header

2

#recs

3

Format

Binary
Bytes

Binary
Offset

H

0

The number of GLONASS almanac records to follow. Set
Long
to zero until almanac data is available

4

H

week

GPS reference week, in weeks

Ulong

4

H+4

4

time

GPS reference time, in milliseconds (binary data) or
seconds (ASCII data)

GPSec 4

H+8

5

slot

Slot number for satellite, ordinal

Uchar

1

H+12

6

frequency

Frequency for satellite, ordinal (frequency channels are
in the range -7 to +6)

Char

1

H+13

Uchar

1

H+14

Uchar

1

H+15

Satellite type where
7

sat type

0 = GLO_SAT
1 = GLO_SAT_M (M type)
2 = GLO_SAT_K (K type)
Almanac health where

8

health

0 = GOOD
1 = BAD

9

TlambdaN

GLONASS Time of ascending node equator crossing, in
Double 8
seconds

H+16

10

lambdaN

Longitude of ascending node equator crossing
(PZ-90.02), in radians

Double 8

H+24

11

deltaI

Correction to nominal inclination, in radians

Double 8

H+32

12

ecc

Eccentricity

Double 8

H+40

13

ArgPerig

Argument of perigee (PZ-90.02), in radians

Double 8

H+48

14

deltaT

Correction to the mean value of the Draconian period (s/
Double 8
orbital period)

H+56

15

deltaTD

Rate of change of orbital period (s/orbital period2)

Double 8

H+64

16

tau

Clock offset, in seconds

Double 8

H+72

17...

Next message offset = H + 4 + (#recs x 76)

18

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4+
(76 x #recs)

19

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

446

Data Logs

Chapter 3

3.2.39 GLOCLOCK
GLONASS clock information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the time difference information between GPS and GLONASS time as well as status flags.
The status flags are used to indicate the type of time processing used in the least squares adjustment. GPS
and GLONASS time are both based on the Universal Time Coordinated (UTC) time scale with some
adjustments. GPS reference time is continuous and does not include any of the leap second adjustments to
UTC applied since 1980. The result is that GPS reference time currently leads UTC time by 15 seconds.
GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time. The nominal
offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second
offset. As well as the nominal offset, there is a residual offset on the order of nanoseconds which must be
estimated in the least squares adjustment. The GLONASS-M satellites broadcasts this difference in the
navigation message.
This log also contains information from the GLONASS navigation data relating GLONASS time to UTC.
Message ID:

719

Log Type:

Asynch

Recommended Input:
log gloclocka onchanged
ASCII Example:
#GLOCLOCKA,COM1,0,54.5,SATTIME,1364,411884.000,00000000,1d44,2310;
0,0.000000000,0.000000000,0,0,-0.000000275,792,-0.000001207,0.000000000,
0.000000000,0*437e9afaf
Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

Field
1

Field type

Description

GLOCLOCK
Log header
header

2
3

Format

Reserved

4

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Double

8

H+4

Double

8

H+12

Uchar

1

H+20

Uchara

1a

H+21 a

Satellite type where
5

sat type

0 = GLO_SAT
1 = GLO_SAT_M (M type)
2 = GLO_SAT_K (K type)

6a

N4

Four-year interval number starting from 1996a

OEM6 Firmware Reference Manual Rev 12

447

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset
8

7

GPS

Correction to GPS time relative to GLONASS time

Double

8a

NA

GLONASS calendar day number within a four year period
beginning since the leap year, in days

Ushorta 2 a

H+32 a

9

C

GLONASS time scale correction to UTC(SU) given at
beginning of day N4, in seconds

Double

8

H+36

10

b1

Beta parameter 1st order term

Double

8

H+44

11

b2

Beta parameter 2nd order term

Double

8

H+52

12

Kp

Kp provides notification of the next expected leap second. For
more information, see Table 102, Kp UTC Leap Second
Uchar
Descriptions on page 448

1

H+60

13

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+61

14

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

H+24

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment.

Table 102: Kp UTC Leap Second Descriptions
Information on UTC Leap Seconda

Kp
00

No UTC update for this quarter

01

UTC update of plus 1 second at the end of current quarter

11

UTC update of minus 1 second at end of current quarter

a. Based on GLONASS ICD version 5.1, 2008.

OEM6 Firmware Reference Manual Rev 12

448

Data Logs

Chapter 3

3.2.40 GLOEPHEMERIS
Decoded GLONASS ephemeris
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains GLONASS ephemeris information. GLONASS ephemerides are referenced to the PZ90.02
geodetic datum. No adjustment between the GPS and GLONASS reference frames are made for positioning.
Multiple messages are transmitted, one for each SVID with data.
Message ID:

723

Log Type:

Asynch

Recommended Input:
log gloephemerisa onchanged
Example:
#GLOEPHEMERISA,COM1,3,49.0,SATTIME,1364,413624.000,00000000,6b64,2310;43,8,1,0,
1364,413114000,10786,792,0,0,87,0,9.0260864257812500e+06,-6.1145468750000000e+0
6,2.2926090820312500e+07,1.4208841323852539e+03,2.8421249389648438e+03,1.939868
9270019531e+02,0.00000000000000000,-2.79396772384643555e-06,-2.793967723846435
55e-06,2.12404876947402954e-04,-1.396983862e-08,-3.63797880709171295e-12,78810,
3,15,0,12*a02ce18b
#GLOEPHEMERISA,COM1,2,49.0,SATTIME,1364,413626.000,00000000,6b64,2310;44,11,1,
0,1364,413116000,10784,792,0,0,87,13,-1.2882617187500000e+06,-1.93186577148437
50e+07,1.6598909179687500e+07,9.5813846588134766e+02,2.0675134658813477e+03,2.4
769935607910156e+03,2.79396772384643555e-06,-3.72529029846191406e-06,-1.862645
14923095703e-06,6.48368149995803833e-05,-4.656612873e-09,3.63797880709171295e12,78810,3,15,3,28*e2d5ef15
#GLOEPHEMERISA,COM1,1,49.0,SATTIME,1364,413624.000,00000000,6b64,2310;45,13,0,0
,1364,413114000,10786,0,0,0,87,0,-1.1672664062500000e+07,-2.2678505371093750e+0
7,4.8702343750000000e+05,-1.1733341217041016e+02,1.3844585418701172e+02,3.57148
83804321289e+03,2.79396772384643555e-06,-2.79396772384643555e-06,0.000000000000
00000,-4.53162938356399536e-05,5.587935448e-09,-2.36468622460961342e-11,78810,
0,0,0,8*c15abfeb
#GLOEPHEMERISA,COM1,0,49.0,SATTIME,1364,413624.000,00000000,6b64,2310;59,17,0,0
,1364,413114000,10786,0,0,0,87,0,-2.3824853515625000e+05,-1.6590188964843750e+0
7,1.9363733398437500e+07,1.3517074584960938e+03,-2.2859592437744141e+03,-1.9414
072036743164e+03,1.86264514923095703e-06,-3.72529029846191406e-06,-1.8626451492
3095703e-06,7.92574137449264526e-05,4.656612873e-09,2.72848410531878471e-12,
78810,0,0,0,12*ed7675f5
Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

OEM6 Firmware Reference Manual Rev 12

449

Data Logs

Field

Chapter 3

Field type

Description

1

GLO
EPHEMERIS Log header
header

2

sloto

3

freqo

Slot information offset - PRN identification
(Slot + 37). This is also called SLOTO in Connect
Frequency channel offset for satellite in the range 0 to 20

Format

Binary Binary
Bytes Offset
H

0

Ushort

2

H

Ushort

2

H+2

Uchar

1

H+4

1

H+5

Satellite type where
4

sat type

0 = GLO_SAT
1 = GLO_SAT_M (M type)
2 = GLO_SAT_K (K type)

5

Reserved

6

e week

Reference week of ephemeris (GPS reference time)

Ushort

2

H+6

7

e time

Reference time of ephemeris (GPS reference time) in ms

Ulong

4

H+8

8

t offset

Integer seconds between GPS and GLONASS time. A positive
value implies GLONASS is ahead of GPS reference time.

Ulong

4

H+12

9

Nt

Calendar number of day within 4 year interval starting at Jan 1 of
Ushort
a leap year

2

H+16

1

H+18

1

H+19

4

H+20

4

H+24

10
11
12

Reserved
15 minute interval number corresponding to ephemeris reference
Ulong
time

issue

Ephemeris health where
13

health

a

0-3 = GOOD

Ulong

4-15 = BAD
14

pos x

X coordinate for satellite at reference time (PZ-90.02), in metres Double

8

H+28

15

pos y

Y coordinate for satellite at reference time (PZ-90.02), in metres Double

8

H+36

16

pos z

Z coordinate for satellite at reference time (PZ-90.02), in metres Double

8

H+44

17

vel x

X coordinate for satellite velocity at reference time (PZ-90.02), in
Double
metres/s

8

H+52

18

vel y

Y coordinate for satellite velocity at reference time (PZ-90.02), in
Double
metres/s

8

H+60

19

vel z

Z coordinate for satellite velocity at reference time (PZ-90.02), in
Double
metres/s

8

H+68

20

LS acc x

X coordinate for lunisolar acceleration at reference time (PZ90.02), in metres/s/s

8

H+76

OEM6 Firmware Reference Manual Rev 12

Double

450

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset

21

LS acc y

Y coordinate for lunisolar acceleration at reference time
(PZ-90.02), in metres/s/s

Double

8

H+84

22

LS acc z

Z coordinate for lunisolar acceleration at reference time
(PZ-90.02), in metres/s/s

Double

8

H+92

23

tau_n

Correction to the nth satellite time t_n relative to GLONASS time
Double
t_c, in seconds

8

H+100

24

delta_tau_n

Time difference between navigation RF signal transmitted in L2
sub-band and navigation RF signal transmitted in L1 sub-band by Double
nth satellite, in seconds

8

H+108

25

gamma

Frequency correction, in seconds/second

Double

8

H+116

26

Tk

Time of frame start (since start of GLONASS day), in seconds

Ulong

4

H+124

27

P

Technological parameter

Ulong

4

H+128

28

Ft

User range

Ulong

4

H+132

29

age

Age of data, in days

Ulong

4

H+136

30

Flags

Information flags, see Table 103, GLONASS Ephemeris Flags
Coding on page 451

Ulong

4

H+140

31

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+144

32

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. The last four bits of this field are used to describe the health.
Bit 0-2: Bn
Bit 3: In
All other bits are reserved and set to 0.

Table 103: GLONASS Ephemeris Flags Coding
Nibble
Bit
Number

Description

0

00 = 0 minutes
01 = 30 minutes
10 = 45 minutes
11 = 60 minutes

1

P1 Flag - Time interval between adjacent iISSUE (fb)
values

2

P2 Flag - Oddness or Evenness of iISSUE (fb) value

3

P3 Flag - Number of satellites with almanac information 0 = four
within current subframe
1 = five

N0

N-1
through
N-7

Range Values

0 = even
1 = odd

Hex Value
00000001
00000002
00000004
00000008

4
... Reserved
31

OEM6 Firmware Reference Manual Rev 12

451

Data Logs

Chapter 3

3.2.41 GLORAWALM
Raw GLONASS Almanac data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw almanac subframes as received from the GLONASS satellite.
Message ID:

720

Log Type:

Asynch

Recommended Input:
log glorawalma onchanged
Example:
#GLORAWALMA,COM1,0,44.5,SATTIME,1364,419924.000,00000000,77bb,2310;
1364,419954.069,54,
0563100000a4000000006f,0,
0681063c457a12cc0419be,0,
075ff807e2a69804e0040b,0,
0882067fcd80141692d6f2,0,
09433e1b6676980a40429b,0,
0a838d1bfcb4108b089a8c,0,
0bec572f9c869804f05882,0,
.
.
.
06950201e02e13d3819564,0,
07939a4a16fe97fe814ad0,0,
08960561cecc13b0014613,0,
09469a5d70c69802819466,0,
0a170165bed413b704d416,0,
0b661372213697fd41965a,0,
0c18000000000000000006,0,
0d00000000000000000652,0,
0e000000000000000000d0,0*b516623b
Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

Field

Field type

Description

1

GLORAWALM header Log header

2

week

GPS reference week, in weeks

3

time

4

#recs

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

GPS reference time, in milliseconds (binary
data) or seconds (ASCII data)

GPSec

4

H+4

Number of records to follow

Ulong

4

H+8

OEM6 Firmware Reference Manual Rev 12

452

Data Logs

Field

Chapter 3

Field type

Description

5

string

GLONASS data string

6

Reserved

7...

Next record offset = H+8+(#recs x 12)

8

xxxx

9

[CR][LF]

Binary
Bytes

Format

Binary
Offset

String[11]

11

H+12

Uchar

1

H+23

32-bit CRC (ASCII and Binary only)

Ulong

4

H+12+
(#recsx12)

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

453

Data Logs

Chapter 3

3.2.42 GLORAWEPHEM
Raw GLONASS Ephemeris data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw ephemeris frame data as received from the GLONASS satellite.
Message ID:

792

Log Type:

Asynch

Recommended Input:
log glorawephema onchanged
Example:
#GLORAWEPHEMA,COM1,3,47.0,SATTIME,1340,398653.000,00000000,332d,
2020;38,9,0,1340,398653.080,4,0148d88460fc115dbdaf78,0,0218e0033667aec83af2a5,0
,038000b9031e14439c75ee,0,0404f22660000000000065,0*17f3dd17
…
#GLORAWEPHEMA,COM1,0,47.0,SATTIME,1340,398653.000,00000000,332d,
2020;41,13,0,1340,398653.078,4,0108d812532805bfa1cd2c,0,0208e0a36e8e0952b111da,
0,03c02023b68c9a32410958,0,0401fda44000000000002a,0*0b237405
Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

Field

Field type

Description

1

GLORAWEPHEM
Log header
header

2

sloto

3

Binary
Bytes

Format

Binary
Offset

H

0

Slot information offset - PRN identification (Slot +
37). Ephemeris relates to this slot and is also called Ushort
SLOTO in NovAtel Connect

2

H

freqo

Frequency channel offset in the range 0 to 20

Ushort

2

H+2

4

sigchan

Signal channel number

Ulong

4

H+4

5

week

GPS reference week, in weeks

Ulong

4

H+8

6

time

GPS reference time, in milliseconds (binary data) or
GPSec
seconds (ASCII data)

4

H+12

7

#recs

Number of records to follow

Ulong

4

H+16

8

string

GLONASS data string

String[11] 11

H+20

9

Reserved

Uchar

1

H+31

10...

Next record offset = H+20+(#recs x 12)

11

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+20+
(#recsx12)

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

454

Data Logs

Chapter 3

3.2.43 GLORAWFRAME
Raw GLONASS frame data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw GLONASS frame data as received from the GLONASS satellite. Multiple messages
are transmitted, one for each SVID with data.
Message ID:

721

Log Type:

Asynch

Recommended Input:
log glorawframea onchanged
Example:
#GLORAWFRAMEA,COM1,19,53.0,SATTIME,1340,398773.000,00000000,8792,2020;3,39,8,
1340,398773.067,44,44,15,0148dc0b67e9184664cb35,0,0218e09dc8a3ae8c6ba18d,0,
…
0f00000000000000000000,0*11169f9e
…
#GLORAWFRAMEA,COM1,0,53.0,SATTIME,1340,398713.000,00000000,8792,2020;1,41,13,
1340,398713.077,36,36,15,0108da12532805bfa1cded,0,0208e0a36e8e0952b111da,0,
03c02023b68c9a32410958,0,
…
0f6efb59474697fd72c4e2,0*0a6267c8
Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

Field

Field type

Description

1

GLORAWFRAME
Log header
header

2

frame#

Frame number

3

sloto

4

Format

Binary
Bytes

Binary
Offset

H

0

4

H

Slot information offset - PRN identification (Slot +
37). Ephemeris relates to this slot and is also called Ushort
SLOTO in NovAtel Connect.

2

H+4

freqo

Frequency channel offset in the range 0 to 20

Ushort

2

H+6

5

week

GPS Week, in weeks

Ulong

4

H+8

6

time

GPS Time, in milliseconds (binary data) or seconds
GPSec
(ASCII data)

4

H+12

7

frame decode

Frame decoder number

Ulong

4

H+16

8

sigchan

Signal channel number

Ulong

4

H+20

OEM6 Firmware Reference Manual Rev 12

Ulong

455

Data Logs

Field

Chapter 3

Field type

Description

Binary
Bytes

Format

9

#recs

Number of records to follow

Ulong

10

string

GLONASS data string

String[11] 11

H+28

11

Reserved

Uchar

1

H+39

12...

Next record offset = H+28+ (#recs x 12)

13

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H +28+
(#recs x 12)

14

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

4

Binary
Offset
H+24

456

Data Logs

Chapter 3

3.2.44 GLORAWSTRING
Raw GLONASS string
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw string data as received from the GLONASS satellite.
Message ID:

722

Log Type:

Asynch

Recommended Input:
log glorawstringa onchanged
Example:
#GLORAWSTRINGA,COM1,0,51.0,SATTIME,1340,399113.000,00000000,50ac,2020;4,6,
061000000000000000004f,0*5b215fb2
Refer to the GLONASS section of An Introduction to GNSS, available on our website at
www.novatel.com/support/.

Field

Field type

Description

1

GLORAWSTRING
Log header
header

2

slot

Slot identification

3

freq

4

string

5

Reserved

6

xxxx

7

[CR][LF]

Binary
Bytes

Format

Binary
Offset

H

0

Uchar

1

H

Frequency channel (frequency channels are in the
range -7 to +13)

Char

1

H+1

GLONASS data string

Hex[11]

11

H+2

Uchar

1

H+13

32-bit CRC (ASCII and Binary only)

Ulong

4

H+14

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

457

Data Logs

Chapter 3

3.2.45 GPALM
Almanac data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log outputs raw almanac data for each GPS satellite PRN contained in the broadcast message. A
separate record is logged for each PRN, up to a maximum of 32 records. GPALM outputs these messages
without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this
case, the UTC time status (see the TIME log on page 715) is set to WARNING since it may not be one
hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. UTC
time is then set to VALID. It takes a minimum of 12.5 minutes to collect a complete almanac following receiver
boot-up. In the case of a GLONASS capable receiver, the UTC offset can be determined once the GLONASS
ephemeris is decoded, which takes about 50 seconds. If an almanac was stored in NVM, the stored values
are reported in the GPALM log once time is set on the receiver.
To obtain copies of ICD-GPS-200, refer to ARINC on our website at www.novatel.com/support/
knowledge-and-learning/published-papers-and-documents/standards-and-references/. NMEA
contact information is also located there.
Message ID:

217

Log Type:

Asynch

Recommended Input:
log gpalm onchanged
Example:
$GPALM,28,01,01,1337,00,305a,90,1b9d,fd5b,a10ce9,ba0a5e,2f48f1,cccb76,006,001*2
7
$GPALM,28,02,02,1337,00,4aa6,90,0720,fd50,a10c5a,4dc146,d89bab,0790b6,fe4,000*7
0
.
.
.
$GPALM,28,24,26,1337,00,878c,90,1d32,fd5c,a10c90,1db6b6,2eb7f5,ce95c8,00d,000*2
3
$GPALM,28,25,27,1337,00,9cde,90,07f2,fd54,a10da5,adc097,562da3,6488dd,00e,000*2
F
$GPALM,28,26,28,1337,00,5509,90,0b7c,fd59,a10cc4,a1d262,83e2c0,3003bd,02d,000*7
8
$GPALM,28,27,29,1337,00,47f7,90,1b20,fd58,a10ce0,d40a0b,2d570e,221641,122,006*7
D
$GPALM,28,28,30,1337,00,4490,90,0112,fd4a,a10cc1,33d10a,81dfc5,3bdb0f,178,004*2
8
See the GPGGA usage box that applies to all NMEA logs on page 460.

OEM6 Firmware Reference Manual Rev 12

458

Data Logs

Chapter 3

Field

Structure

Description

Symbol

Example

1

$GPALM

Log header

2

# msg

Total number of messages logged. Set to zero until
almanac data is available

x.x

17

3

msg #

Current message number

x.x

17

4

PRN

xx

28

5

GPS wk

GPS reference week number a

x.x

653

6

SV hlth

SV health, bits 17-24 of each almanac pageb

hh

00

7

ecc

e, eccentricity c d

hhhh

3EAF

8

alm ref time

to a almanac reference time c

hh

87

9

incl angle

(sigma)i, inclination angle c

hhhh

OD68

10

omegadot

OMEGADOT, rate of right ascension c

hhhh

FD30

11

rt axis

(A)1/2, root of semi-major axis c

hhhhhh

A10CAB

12

omega

omega, argument of perigee c e

hhhhhh

6EE732

13

long asc node

(OMEGA)o,longitude of ascension node c

hhhhhh

525880

14

Mo

Mo, mean anomaly c

hhhhhh

6DC5A8

15

af0

af0, clock parameter c

hhh

009

16

af1

af1, clock parameter c

hhh

005

17

*xx

Checksum

*hh

*37

18

[CR][LF]

Sentence terminator

Satellite PRN number:
GPS = 1 to 32

$GPALM

[CR][LF]

a

Variable length integer, 4-digits maximum from (2) most significant binary bits of Subframe 1, Word 3 reference
Table 20-I, ICD-GPS-200, Rev. B, and (8) least significant bits from subframe 5, page 25, word 3 reference Table
20-I, ICD-GPS-200.

b

Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD-GPS-200, Rev. B.

c

Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units.

d

A quantity defined for a conic section where e= 0 is a circle, e = 1 is an ellipse, 01 is a
hyperbola.

e

A measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth, in
the direction of the SV's motion.

OEM6 Firmware Reference Manual Rev 12

459

Data Logs

Chapter 3

3.2.46 GPGGA
GPS fix data and undulation
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains time, position and fix related data of the GNSS receiver. For greater precision but with loss
of the undulation fields, use the GPGGARTK log (see page 465). See also Table 105, Position Precision of
NMEA Logs on page 468.
The GPGGA log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
TerraStar-L is not available for OEM638 and ProPak6 receivers.

Message ID:

218

Log Type

Synch

Recommended Input:
log gpgga ontime 1
Example:
$GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,-16.27,M,08,AAAA
*60
The NMEA (National Marine Electronics Association) has defined standards that specify how
electronic equipment for marine users communicate. GNSS receivers are part of this standard
and the NMEA has defined the format for several GNSS data logs otherwise known as
'sentences'.
Each NMEA sentence begins with a '$' followed by the prefix 'GL' or ‘GN’ followed by a
sequence of letters that define the type of information contained in the sentence. Data
contained within the sentence is separated by commas and the sentence is terminated with a
two digit checksum followed by a carriage return/line feed. Here is an example of a NMEA
sentence describing time, position and fix related data:
$GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,
-16.27,M,08,AAAA*60
The GPGGA sentence shown above and other NMEA logs are output the same no matter what
GNSS receiver is used, providing a standard way to communicate and process GNSS
information. For more information about NMEA, see the NMEATALKER command on page 208.

Field Structure

Description

Symbol

Example

1

$GPGGA

Log header

2

utc

UTC time status of position (hours/minutes/seconds/
hhmmss.ss 202134.00
decimal seconds)

OEM6 Firmware Reference Manual Rev 12

$GPGGA

460

Data Logs

Chapter 3

Field Structure

Description

Symbol

Example

3

lat

Latitude (DDmm.mm)

llll.ll

5106.9847

4

lat dir

Latitude direction (N = North, S = South)

a

N

5

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.2986

6

lon dir

Longitude direction (E = East, W = West)

a

W

7

quality

refer to Table 104, GPS Quality Indicators on
page 461

x

1

8

# sats

Number of satellites in use. May be different to the
number in view

xx

10

9

hdop

Horizontal dilution of precision

x.x

1.0

10

alt

Antenna altitude above/below mean sea level

x.x

1062.22

11

a-units

Units of antenna altitude (M = metres)

M

M

12

undulation

Undulation - the relationship between the geoid and
the WGS84 ellipsoid

x.x

-16.271

13

u-units

Units of undulation (M = metres)

M

M

14

age

Age of correction data (in seconds) a

xx

(empty when no
differential data is present)

15

stn ID

Differential base station ID

xxxx

(empty when no
differential data is present)

16

*xx

Checksum

*hh

*48

17

[CR][LF]

Sentence terminator

[CR][LF]

a. The maximum age reported here is limited to 99 seconds.

Table 104: GPS Quality Indicators
Indicator
0
1

Description
Fix not available or invalid
Single point
Converging PPP (TerraStar-L)
Pseudorange differential
Converged PPP (TerraStar-L)

2

Converging PPP (TerraStar-C)
Converging OmniSTAR HP/XP/G2
OmniSTAR VBS

4

RTK fixed ambiguity solution

OEM6 Firmware Reference Manual Rev 12

461

Data Logs

Chapter 3
Indicator

Description
RTK floating ambiguity solution

5

Converged PPP (TerraStar-C)
Converged OmniSTAR HP/XP/G2

6

Dead reckoning mode

7

Manual input mode (fixed position)

8

Simulator mode

9

WAAS (SBAS)a

a. An indicator of 9 has been temporarily set for SBAS (NMEA standard for SBAS not
decided yet). This indicator can be customized using the GGAQUALITY command.

Refer to the BESTPOS log (see page 393) and Table 88, Supplemental Position Types and
NMEA Equivalents on page 399.

OEM6 Firmware Reference Manual Rev 12

462

Data Logs

Chapter 3

3.2.47 GPGGALONG
Fix data, extra precision and undulation
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains, time, position, undulation and fix related data of the GNSS receiver. This is output as a
GPGGA log but the GPGGALONG log differs from the normal GPGGA log by its extra precision. See also
Table 105, Position Precision of NMEA Logs on page 468.
The GPGGALONG log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC
time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is
set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
Message ID:

521

Log Type:

Synch

Recommended Input:
log gpggalong ontime 1
Example 1:
$GPGGA,181126.00,5106.9802863,N,11402.3037304,W,7,11,0.9,1048.234,M,-16.27,M,,
*51
Example 2:
$GPGGA,134658.00,5106.9802863,N,11402.3037304,W,2,09,1.0,1048.234,M,-16.27,M,
08,AAAA
See the GPGGA usage box that applies to all NMEA logs on page 460.

Field

Structure

Description

Symbol

Example

1

$GPGGALONG Log header

2

utc

UTC time status of position (hours/minutes/
seconds/ decimal seconds)

hhmmss.ss 202126.00

3

lat

Latitude (DDmm.mm)

llll.ll

5106.9847029

4

lat dir

Latitude direction (N = North, S = South)

a

N

5

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.2986286

6

lon dir

Longitude direction (E = East, W = West)

a

W

7

GPS qual

Refer to Table 104, GPS Quality Indicators on
x
page 461

1

8

# sats

Number of satellites in use (00-12). May be
different to the number in view

10

OEM6 Firmware Reference Manual Rev 12

$GPGGA

xx

463

Data Logs
Field

Chapter 3
Structure

Description

Symbol

Example

9

hdop

Horizontal dilution of precision

x.x

1.0

10

alt

Antenna altitude above/below msl

x.x

1062.376

11

units

Units of antenna altitude (M = metres)

M

M

12

undulation

Undulation - the relationship between the geoid
x.x
and the WGS84 ellipsoid

-16.271

13

u-units

Units of undulation (M = metres)

M

M

14

age

Age of Differential GPS data (in seconds) a

xx

10 (empty when no
differential data is present)

15

stn ID

Differential base station ID, 0000-1023

xxxx

AAAA (empty when no
differential data is present)

16

*xx

Checksum

*hh

*48

17

[CR][LF]

Sentence terminator

[CR][LF]

a. The maximum age reported here is limited to 99 seconds.

Refer to the BESTPOS log (see page 393) and Table 88, Supplemental Position
Types and NMEA Equivalents on page 399.

OEM6 Firmware Reference Manual Rev 12

464

Data Logs

Chapter 3

3.2.48 GPGGARTK
Global position system fix data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains time, position and fix-related data of the GNSS receiver. This is output as a GPGGA log but
the GPGGARTK log differs from the normal GPGGA log by its extra precision. In order for the position to be
output with this extra precision, the undulation fields are unavailable (see the GPGGA log on page 460). See
also Table 105, Position Precision of NMEA Logs on page 468.
The GPGGARTK log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC
time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is
set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
Message ID:

259

Log Type:

Synch

Recommended Input:
log gpggartk ontime 1
Example:
$GPGGA,135324.00,5106.9791988,N,11402.3002127,W,2,09,1.0,1047.606,M,,,04,AAAA
*1C
The GPGGARTK log is ideal for RTK positioning applications where millimeter level position
precision is required. See also the GPGGA usage box that applies to all NMEA logs on
page 460.

Field Structure

Description

Symbol

Example

1

$GPGGA

Log header

2

utc

UTC time status of position (hours/minutes/seconds/ decimal
hhmmss.ss 220147.50
seconds)

3

lat

Latitude (DDmm.mm)

llll.ll

5106.7194489

4

lat dir

Latitude direction (N = North, S = South)

a

N

5

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.3589020

6

lon dir

Longitude direction (E = East, W = West)

a

W

7

GPS qual

Refer to Table 104, GPS Quality Indicators on page 461

x

1

8

# sats

Number of satellites in use. May be different to the number in
xx
view

08

9

hdop

Horizontal dilution of precision

x.x

0.9

10

alt

Antenna altitude above/below mean sea level

x.x

1080.406

11

units

Units of antenna altitude (M = metres)

M

M

OEM6 Firmware Reference Manual Rev 12

$GPGGA

465

Data Logs

Chapter 3

Field Structure

Description

Symbol

Example
(empty when no
differential data is
present)

12

null

(This field not available on OEM6 family receivers)

13

null

(This field not available on OEM6 family receivers)

14

age

Age of Differential GPS data (in seconds) a

xx

15

stn ID

Differential base station ID, 0000-1023

xxxx

16

*xx

Checksum

*hh

17

[CR][LF]

Sentence terminator

*48
[CR][LF]

a. The maximum age reported here is limited to 99 seconds.

Refer to the BESTPOS log (see page 393) and Table 88, Supplemental Position
Types and NMEA Equivalents on page 399.

OEM6 Firmware Reference Manual Rev 12

466

Data Logs

Chapter 3

3.2.49 GPGLL
Geographic position
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains latitude and longitude of present vessel position, time of position fix and status.
Table 105, Position Precision of NMEA Logs on page 468 compares the position precision of selected NMEA
logs.
The GPGLL log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2 characters
after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites
only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID:

219

Log Type:

Synch

Recommended Input:
log gpgll ontime 1
Example 1 (GPS only):
$GPGLL,5107.0013414,N,11402.3279144,W,205412.00,A,A*73
Example 2 (Combined GPS and GLONASS):
$GNGLL,5107.0014143,N,11402.3278489,W,205122.00,A,A*6E
See the GPGGA usage box that applies to all NMEA logs on page 460.

Field

Structure

Description

Example

1

$GPGLL

Log header

$GPGLL

2

lat

Latitude (DDmm.mm)

5106.7198674

3

lat dir

Latitude direction (N = North, S = South)

N

4

lon

Longitude (DDDmm.mm)

11402.3587526

5

lon dir

Longitude direction (E = East, W = West)

W

6

utc

UTC time status of position (hours/minutes/seconds/decimal seconds)

220152.50

7

data status Data status: A = Data valid, V = Data invalid

8

mode ind

Positioning system mode indicator, see Table 106, NMEA Positioning
System Mode Indicator on page 479

OEM6 Firmware Reference Manual Rev 12

A
A

467

Data Logs
Field

Chapter 3
Structure

Description

Example

9

*xx

Checksum

*1B

10

[CR][LF]

Sentence terminator

[CR][LF]

Table 105: Position Precision of NMEA Logs
NMEA Log

Latitude
Longitude
Altitude
(# of decimal places) (# of decimal places) (# of decimal places)

GPGGA

4

4

2

GPGGALONG

7

7

3

GPGGARTK

7

7

3

GPGLL

7

7

N/A

GPRMC

7

7

N/A

OEM6 Firmware Reference Manual Rev 12

468

Data Logs

Chapter 3

3.2.50 GPGRS
GPS range residuals for each satellite
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

Range residuals can be computed in two ways, and this log reports those residuals. Under mode 0, residuals
output in this log are used to update the position solution output in the GPGGA message. Under mode 1, the
residuals are recomputed after the position solution in the GPGGA message is computed. The receiver
computes range residuals in mode 1. An integrity process using GPGRS would also require GPGGA (for
position fix data), GPGSA (for DOP figures) and GPGSV (for PRN numbers) for comparative purposes.
The GPGRS log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
1. If the range residual exceeds ± 99.9, then the decimal part is dropped. Maximum value for
this field is ± 999. The sign of the range residual is determined by the order of parameters
used in the calculation as follows:
•

range residual = calculated range - measured range

2. If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2
characters after the $ sign in the log header) is set to GP (GPS satellites only), GL
(GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites
only).
3. There is no residual information available from the OmniSTAR HP/XP/G2 service, so the
GPGRS contains the pseudorange position values when using it. For the OmniSTAR VBS
service, residual information is available.
Message ID:

220

Log Type:

Synch

Recommended Input:
log gpgrs ontime 1
Example 1 (GPS only):
$GPGRS,142406.00,1,-1.1,-0.1,1.7,1.2,-2.0,-0.5,1.2,-1.2,-0.1,,,*67
Example 2 (Combined GPS and GLONASS):
$GNGRS,143209.00,1,-0.2,-0.5,2.2,1.3,-2.0,-1.3,1.3,-0.4,-1.2,-0.2,,*72
$GNGRS,143209.00,1,1.3,-6.7,,,,,,,,,,*73
See the GPGGA usage box that applies to all NMEA logs on page 460.

OEM6 Firmware Reference Manual Rev 12

469

Data Logs

Chapter 3

Field Structure

Description

Symbol

Example

1

$GPGRS Log header

2

utc

UTC time status of position (hours/minutes/seconds/
hhmmss.ss 192911.0
decimal seconds)

mode

Mode 0= residuals were used to calculate the position
given in the matching GGA line (apriori) (not used by
OEM6 receivers)
x
Mode 1= residuals were recomputed after the GGA
position was computed (preferred mode)

1

4 - 15 res

Range residuals for satellites used in the navigation
solution. Order matches order of PRN numbers in
GPGSA

x.x,x.x,.....

-13.8,-1.9,11.4,-33.6,0.9,
6.9,-12.6,0.3,0.6, -22.3

16

*xx

Checksum

*hh

*65

17

[CR][LF]

Sentence terminator

3

OEM6 Firmware Reference Manual Rev 12

$GPGRS

[CR][LF]

470

Data Logs

Chapter 3

3.2.51 GPGSA
GPS DOP and active satellites
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains GNSS receiver operating mode, satellites used for navigation and DOP values.
The GPGSA log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2 characters
after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites
only), or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID:

221

Log Type:

Synch

Recommended Input:
log gpgsa ontime 1
Example 1 (GPS only):
$GPGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*35
Example 2 (Combined GPS and GLONASS):
$GNGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*2B
$GNGSA,M,3,87,70,,,,,,,,,,,1.2,0.8,0.9*2A
The DOPs provide a simple characterization of the user satellite geometry. DOP is related to
the volume formed by the intersection points of the user satellite vectors, with the unit sphere
centered on the user. Larger volumes give smaller DOPs. Lower DOP values generally
represent better position accuracy. The role of DOP in GNSS positioning is often
misunderstood. A lower DOP value does not automatically mean a low position error. The
quality of a GNSS derived position estimate depends upon both the measurement geometry as
represented by DOP values and range errors caused by signal strength, ionospheric effects,
multipath and so on.
Also see the GPGGA usage box that applies to all NMEA logs on page 460.

Field Structure

Description

1

$GPGSA

2

mode MA

3

mode 123 Mode: 1 = Fix not available; 2 = 2D; 3 = 3D

Symbol

Log header
A = Automatic 2D/3D
M = Manual, forced to operate in 2D or 3D

OEM6 Firmware Reference Manual Rev 12

Example
$GPGSA

M

M

x

3

471

Data Logs

Chapter 3

Field Structure

Description

Symbol

PRN numbers of satellites used in solution (null for unused fields),
total of 12 fields
4 - 15 prn

GPS = 1 to 32

Example
18,03,13,

xx,xx,.....

SBAS = 33 to 64 (add 87 for PRN number)

25,16,
24,12,
20,,,,

GLO = 65 to 96 a
16

pdop

Position dilution of precision

x.x

1.5

17

hdop

Horizontal dilution of precision

x.x

0.9

18

vdop

Vertical dilution of precision

x.x

1.2

19

*xx

Checksum

*hh

*3F

20

[CR][LF]

Sentence terminator

[CR][LF]

a. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers are 1 to 24 which give
the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on-orbit spares.

OEM6 Firmware Reference Manual Rev 12

472

Data Logs

Chapter 3

3.2.52 GPGST
Pseudorange measurement noise statistics
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains pseudorange measurement noise statistics are translated in the position domain in order to
give statistical measures of the quality of the position solution.
This log reflects the accuracy of the solution type used in the BESTPOS (page 393) and GPGGA (page 460),
except for the RMS field. The RMS field, since it specifically relates to pseudorange inputs, does not
represent carrier-phase based positions. Instead it reflects the accuracy of the pseudorange position which is
given in the PSRPOS log (see page 565).
The GPGST log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2 characters
after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites
only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID:

222

Log Type:

Synch

Recommended Input:
log gpgst ontime 1
Example 1 (GPS only):
$GPGST,141451.00,1.18,0.00,0.00,0.0000,0.00,0.00,0.00*6B
Example 2 (Combined GPS and GLONASS):
$GNGST,143333.00,7.38,1.49,1.30,68.1409,1.47,1.33,2.07*4A
1. See the GPGGA usage box that applies to all NMEA logs on page 460.
2. Accuracy is based on statistics, reliability is measured in percent. When a receiver can
measure height to one metre, this is an accuracy. Usually this is a one sigma value (one
SD). A one sigma value for height has a reliability of 68%, that is, the error is less than one
metre 68% of the time. For a more realistic accuracy, double the one sigma value (1 m) and
the result is 95% reliability (error is less than 2 m 95% of the time). Generally, GNSS
heights are 1.5 times poorer than horizontal positions.
As examples of statistics, the GPGST message and NovAtel performance specifications
use Root Mean Square (RMS). Specifications may be quoted in CEP:
•

RMS - root mean square (a probability level of 68%)

•

CEP - circular error probable (the radius of a circle such that 50% of a set of events
occur inside the boundary)

OEM6 Firmware Reference Manual Rev 12

473

Data Logs

Chapter 3

Field Structure

Description

Symbol

Example

1

$GPGST

Log header

2

utc

UTC time status of position
(hours/minutes/seconds/ decimal seconds)

hhmmss.ss 173653.00

3

rms

RMS value of the standard deviation of the range inputs to the
navigation process. Range inputs include pseudoranges and
DGPS corrections

x.x

2.73

4

smjr std

Standard deviation of semi-major axis of error ellipse (m)

x.x

2.55

5

smnr std

Standard deviation of semi-minor axis of error ellipse (m)

x.x

1.88

6

orient

Orientation of semi-major axis of error ellipse (degrees from true
north)

x.x

15.2525

7

lat std

Standard deviation of latitude error (m)

x.x

2.51

8

lon std

Standard deviation of longitude error (m)

x.x

1.94

9

alt std

Standard deviation of altitude error (m)

x.x

4.30

10

*xx

Checksum

*hh

*6E

11

[CR][LF]

Sentence terminator

OEM6 Firmware Reference Manual Rev 12

$GPGST

[CR][LF]

474

Data Logs

Chapter 3

3.2.53 GPGSV
GPS satellites in view
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the number of GPS SVs in view, PRN numbers, elevation, azimuth and SNR value. Four
satellites maximum per message. When required, additional satellite data sent in 2 or more messages (a
maximum of 9). The total number of messages being transmitted and the current message being transmitted
are indicated in the first two fields.
The GPGSV log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
1. Satellite information may require the transmission of multiple messages. The first field
specifies the total number of messages, minimum value 1. The second field identifies the
order of this message (message number), minimum value 1.
2. If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2
characters after the $ sign in the log header) is set to GP (GPS satellites only) or GL
(GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites
only). Each system is output in a separate message.
3. The ID setting in the NMEATALKER command (see page 208) controls the satellites reported
in this log. If the NMEATALKER ID is set to GP, only GPS satellites are reported in this log.
If the NMEATALKER ID is set to AUTO, all satellites in view are reported.
4. A variable number of 'PRN-Elevation-Azimuth-SNR' sets are allowed up to a maximum of
four sets per message. Null fields are not required for unused sets when less than four sets
are transmitted.
Message ID:

223

Log Type:

Synch

Recommended Input:
log gpgsv ontime 1
Example (Including GPS and GLONASS sentences):
$GPGSV,3,1,11,18,87,050,48,22,56,250,49,21,55,122,49,03,40,284,47*78
$GPGSV,3,2,11,19,25,314,42,26,24,044,42,24,16,118,43,29,15,039,42*7E
$GPGSV,3,3,11,09,15,107,44,14,11,196,41,07,03,173,*4D
$GLGSV,2,1,06,65,64,037,41,66,53,269,43,88,39,200,44,74,25,051,*64
$GLGSV,2,2,06,72,16,063,35,67,01,253,*66
The GPGSV log can be used to determine which GPS satellites are currently available to the
receiver. Comparing the information from this log to that in the GPGSA log shows if the receiver
is tracking all available satellites.
See also the GPGGA usage box that applies to all NMEA logs on page 460.

OEM6 Firmware Reference Manual Rev 12

475

Data Logs
Field

Chapter 3
Structure

Description

Symbol

Example

1

$GPGSV

Log header

$GPGSV

2

# msgs

Total number of messages (1-9)

x

3

3

msg #

Message number (1-9)

x

1

4

# sats

Total number of satellites in view. May be different than the number
xx
of satellites in use (see also the GPGGA log on page 460)

09

Satellite PRN number
5

GPS = 1 to 32

prn

SBAS = 33 to 64 (add 87 for PRN#s)

xx

03

GLO = 65 to 96 a
6

elev

Elevation, degrees, 90 maximum

xx

51

7

azimuth

Azimuth, degrees True, 000 to 359

xxx

140

8

SNR

SNR (C/No) 00-99 dB, null when not tracking

xx

42

...

...

Next satellite PRN number, elev, azimuth, SNR,

...

...

...

...

...

Last satellite PRN number, elev, azimuth, SNR,

variable

*xx

Checksum

*hh

*72

variable

[CR][LF]

Sentence terminator

[CR][LF]

a. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers are 1 to 24 which give
the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on-orbit spares.

OEM6 Firmware Reference Manual Rev 12

476

Data Logs

Chapter 3

3.2.54 GPHDT
NMEA heading log
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains actual vessel heading in degrees True (from True North). See also a description of the
HEADING log on page 487. You can also set a standard deviation threshold for this log, see the
HDTOUTTHRESHOLD command on page 168.
You must have an ALIGN capable receiver to use this log.

1. If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2
characters after the $ sign in the log header) is set to GP (GPS satellites only), GL
(GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites
only).
2. Asynchronous logs, such as GPHDT, should only be logged ONCHANGED otherwise the
most current data is not available or included in the output. An example of this occurrence is
in the ONTIME trigger. If this trigger is not logged ONCHANGED, it may cause inaccurate
time tags.
Message ID:

1045

Log Type:

Asynch

Recommended Input:
log gphdt onchanged
Example 1 (GPS only):
$GPHDT,75.5664,T*36
Example 2 (Combined GPS and GLONASS):
$GNHDT,75.5554,T*45
Field

Structure

Description

Symbol

Example

1

$GPHDT

Log header

2

heading

Heading in degrees

x.x

75.5554

3

True

Degrees True

T

T

4

*xx

Checksum

*hh

*36

5

[CR][LF]

Sentence terminator

OEM6 Firmware Reference Manual Rev 12

$GPHDT

[CR][LF]

477

Data Logs

Chapter 3

3.2.55 GPRMB
Navigation information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains navigation data from present position to a destination waypoint. The destination is set active
by the receiver SETNAV command (see page 285).
The GPRMB log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
Message ID:

224

Log Type:

Synch

Recommended Input:
log gprmb ontime 1
Example 1 (GPS only):
$GPRMB,A,5.14,L,FROM,TO,5109.7578000,N,11409.0960000,W,5.1,303.0,-0.0,V,A*6F
Example 2 (Combined GPS and GLONASS):
$GNRMB,A,5.14,L,FROM,TO,5109.7578000,N,11409.0960000,W,5.1,303.0,-0.0,V,A*71
1. If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2
characters after the $ sign in the log header) is set to GP (GPS satellites only), GL
(GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites
only).
2. See the GPGGA usage box that applies to all NMEA logs on page 460.

Field Structure

Field Description

1

$GPRMB

2

data status Data status: A = data valid; V = navigation receiver warning

3

xtrack

4

Symbol

Log header

Example
$GPRMB

A

A

Cross track error a

x.x

5.14

dir

Direction to steer to get back on track (L/R) b

a

L

5

origin ID

Origin waypoint ID c

c--c

FROM

6

dest ID

Destination waypoint ID C

c--c

TO

7

dest lat

Destination waypoint latitude (DDmm.mm c

llll.ll

5109.7578000

8

lat dir

Latitude direction (N = North, S = South) c

a

N

9

dest lon

Destination waypoint longitude (DDDmm.mm) c

yyyyy.yy 11409.0960000

OEM6 Firmware Reference Manual Rev 12

478

Data Logs

Chapter 3

Field Structure

Field Description

Symbol

Example

10

lon dir

Longitude direction (E = East, W = West) c

a

W

11

range

Range to destination, nautical miles d

x.x

5.1

12

bearing

Bearing to destination, degrees True

x.x

303.0

13

vel

Destination closing velocity, knots

x.x

-0.0

14

arr status

A

V

Arrival status:
A = perpendicular passed
V = destination not reached or passed
15

mode ind

Positioning system mode indicator, see Table 106, NMEA
Positioning System Mode Indicator on page 479

a

A

16

*xx

Checksum

*hh

*6F

17

[CR][LF]

Sentence terminator

[CR][LF]

a. - If cross track error exceeds 9.99 NM, display 9.99
- Represents track error from intended course
- One nautical mile = 1,852 metres
b. Direction to steer is based on the sign of the crosstrack error, that is, L = xtrack error (+); R = xtrack error (-).
c. Fields 5, 6, 7, 8, 9, and 10 are tagged from the SETNAV command (see page 285).
d. If range to destination exceeds 999.9 NM, display 999.9.

Table 106: NMEA Positioning System Mode Indicator
Mode

Indicator

A

Autonomous

D

Differential

E

Estimated (dead reckoning) mode

M

Manual input

N

Data not valid

OEM6 Firmware Reference Manual Rev 12

479

Data Logs

Chapter 3

3.2.56 GPRMC
GPS specific information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains time, date, position, track made good and speed data provided by the GPS navigation
receiver. RMC and RMB are the recommended minimum navigation data to be provided by a GNSS receiver.
A comparison of the position precision between this log and other selected NMEA logs can be seen in
Table 105, Position Precision of NMEA Logs on page 468.
The GPRMC log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2 characters
after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites
only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID:

225

Log Type:

Synch

Recommended Input:
log gprmc ontime 1
Example 1 (GPS):
$GPRMC,144326.00,A,5107.0017737,N,11402.3291611,W,0.080,323.3,210307,0.0,E,A*20
Example 2 (Combined GPS and GLONASS):
$GNRMC,143909.00,A,5107.0020216,N,11402.3294835,W,0.036,348.3,210307,0.0,E,A*31
See the GPGGA usage box that applies to all NMEA logs on page 460.

Field

Structure

Field Description

Symbol

Example

1

$GPRMC

Log header

2

utc

UTC of position

hhmmss.ss 144326.00

3

pos status

Position status (A = data valid, V = data invalid)

A

A

4

lat

Latitude (DDmm.mm)

llll.ll

5107.0017737

5

lat dir

Latitude direction: (N = North, S = South)

a

N

6

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.3291611

7

lon dir

Longitude direction: (E = East, W = West)

a

W

8

speed Kn

Speed over ground, knots

x.x

0.080

OEM6 Firmware Reference Manual Rev 12

$GPRMC

480

Data Logs
Field

Chapter 3

Structure

Field Description

Symbol

Example

9

track true

Track made good, degrees True

x.x

323.3

10

date

Date: dd/mm/yy

xxxxxx

210307

11

mag var

Magnetic variation, degrees a

x.x

0.0

12

var dir

Magnetic variation direction E/W b

a

E

13

mode ind

Positioning system mode indicator, see Table 106, NMEA
Positioning System Mode Indicator on page 479

a

A

14

*xx

Checksum

*hh

*20

15

[CR][LF]

Sentence terminator

[CR][LF]

a. Note that this field is the actual magnetic variation and will always be positive. The direction of the magnetic variation is
always positive.
b. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course.

OEM6 Firmware Reference Manual Rev 12

481

Data Logs

Chapter 3

3.2.57 GPSEPHEM
Decoded GPS ephemerides
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains a single set of GPS ephemeris parameters.
Message ID:

7

Log Type:

Asynch

Recommended Input:
log gpsephema onchanged
ASCII Example:
#GPSEPHEMA,COM1,12,59.0,SATTIME,1337,397560.000,00000000,9145,1984;3,397560.0,
0,99,99,1337,1337,403184.0,2.656004220e+07,4.971635660e-09,-2.752651501e+00,
7.1111434372e-03,6.0071892571e-01,2.428889275e-06,1.024827361e-05,
1.64250000e+02,4.81562500e+01,1.117587090e-08,-7.078051567e-08,9.2668266314e-01
,-1.385772009e-10,-2.098534041e+00,-8.08319384e-09,99,403184.0,-4.190951586e-09
,2.88095e-05,3.06954e-12,0.00000,TRUE,1.458614684e-04,4.00000000e+00*0f875b12
#GPSEPHEMA,COM1,11,59.0,SATTIME,1337,397560.000,00000000,9145,1984;25,397560.0,
0,184,184,1337,1337,403200.0,2.656128681e+07,4.897346851e-09,1.905797220e+00,
1.1981436634e-02,-1.440195331e+00,-1.084059477e-06,6.748363376e-06,
2.37812500e+02,-1.74687500e+01,1.825392246e-07,-1.210719347e-07,9.5008501632e01,2.171519024e-10,2.086083072e+00,-8.06140722e-09,184,403200.0,-7.450580597e09,1.01652e-04,9.09495e-13,0.00000,TRUE,1.458511425e-04,4.00000000e+00*18080b24
.
.
.
#GPSEPHEMA,COM1,0,59.0,SATTIME,1337,397560.000,00000000,9145,1984;1,397560.0,0,
224,224,1337,1337,403200.0,2.656022490e+07,3.881233098e-09,2.938005195e+00,
5.8911956148e-03,-1.716723741e+00,-2.723187208e-06,9.417533875e-06,
2.08687500e+02,-5.25625000e+01,9.126961231e-08,-7.636845112e-08,9.8482911735e01,1.325055194e-10,1.162012787e+00,-7.64138972e-09,480,403200.0,-3.259629011e09,5.06872e-06,2.04636e-12,0.00000,TRUE,1.458588731e-04,4.00000000e+00*97058299
The GPSEPHEM log can be used to monitor changes in the orbits of GPS satellites.

Field

Field type

Description

1

GPSEPHEM
Log header
header

2

PRN

Satellite PRN number

3

tow

Time stamp of subframe 1 (seconds)

OEM6 Firmware Reference Manual Rev 12

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Double

8

H+4

482

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset

4

health

Health status - a 6-bit health code as defined in ICD-GPS-200 a

Ulong

4

H+12

5

IODE1

Issue of ephemeris data 1

Ulong

4

H+16

6

IODE2

Issue of ephemeris data 2

Ulong

4

H+20

7

week

toe week number (computed from Z count week)

Ulong

4

H+24

8

z week

Z count week number. This is the week number from subframe 1
of the ephemeris. The ‘toe week’ (field #7) is derived from this to Ulong
account for rollover

4

H+28

9

toe

Reference time for ephemeris, seconds

Double

8

H+32

10

A

Semi-major axis, metres

Double

8

H+40

11

N

Mean motion difference, radians/second

Double

8

H+48

12

M0

Mean anomaly of reference time, radians

Double

8

H+56

13

ecc

Eccentricity, dimensionless - quantity defined for a conic section
where e= 0 is a circle, e = 1 is a parabola, 01 is a hyperbola

8

H+64

14



Argument of perigee, radians - measurement along the orbital
path from the ascending node to the point where the SV is closest Double
to the Earth, in the direction of the SV's motion

8

H+72

15

cuc

Argument of latitude (amplitude of cosine, radians)

Double

8

H+80

16

cus

Argument of latitude (amplitude of sine, radians)

Double

8

H+88

17

crc

Orbit radius (amplitude of cosine, metres)

Double

8

H+96

18

crs

Orbit radius (amplitude of sine, metres)

Double

8

H+104

19

cic

Inclination (amplitude of cosine, radians)

Double

8

H+112

20

cis

Inclination (amplitude of sine, radians)

Double

8

H+120

21

I0

Inclination angle at reference time, radians

Double

8

H+128

22

I



Rate of inclination angle, radians/second

Double

8

H+136

23

0

Right ascension, radians

Double

8

H+144

24




Rate of right ascension, radians/second

Double

8

H+152

25

iodc

Issue of data clock

Ulong

4

H+160

26

toc

SV clock correction term, seconds

Double

8

H+164

27

tgd

Estimated group delay difference, seconds

Double

8

H+172

28

af0

Clock aging parameter, seconds (s)

Double

8

H+180

29

af1

Clock aging parameter, (s/s)

Double

8

H+188

OEM6 Firmware Reference Manual Rev 12

483

Data Logs

Field

Chapter 3

Field type

Description

30

af2

Clock aging parameter, (s/s/s)

31

AS

Anti-spoofing on: 0 = FALSE

32

N

1 = TRUE

Corrected mean motion, radians/second
Note: This field is computed by the receiver.

Format

Binary Binary
Bytes Offset

Double

8

H+196

Bool

4

H+204

Double

8

H+208

8

H+216

33

URA

User Range Accuracy variance, m2. The ICD a specifies that the
URA index transmitted in the ephemerides can be converted to a
nominal standard deviation value using an algorithm listed there. Double
We publish the square of the nominal value (variance). The
correspondence between the original URA index and the value
output is shown in Table 107, URA Variance on page 484

34

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+224

35

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. To obtain copies of ICD-GPS-200, refer to the GPS website www.gps.gov/.

Table 107: URA Variance
Index
Value (m)

A: Standard
Deviations (m)

0

2.0

4

1

2.8

7.84

2

4.0

16

3

5.7

32.49

4

8

64

5

11.3

127.69

6

16.0

256

7

32.0

1024

8

64.0

4096

9

128.0

16384

10

256.0

65536

11

512.0

262144

12

1024.0

1048576

13

2048.0

4194304

14

4096.0

16777216

15

8192.0

67108864

OEM6 Firmware Reference Manual Rev 12

Variance: A2 (m2)

484

Data Logs

Chapter 3

3.2.58 GPVTG
Track made good and ground speed
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the track made good and speed relative to the ground.
The GPVTG log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time,
calculated with default parameters. In this case, the UTC time status (see the TIME log on page 715) is set to
WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the
receiver uses the real parameters. Then the UTC time status is set to VALID.
Message ID:

226

Log Type:

Synch

Recommended Input:
log gpvtg ontime 1
Example 1 (GPS only):
$GPVTG,172.516,T,155.295,M,0.049,N,0.090,K,D*2B
Example 2 (Combined GPS and GLONASS):
$GNVTG,134.395,T,134.395,M,0.019,N,0.035,K,A*33
If the NMEATALKER command (see page 208) is set to AUTO, the talker (the first 2 characters
after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites
only) or GN (satellites from both systems). See the GPGGA usage box that applies to all NMEA
logs on page 460.
Field Structure

Description

Symbol

Example

1

$GPVTG

Log header

2

track true

Track made good, degrees True

x.x

24.168

3

T

True track indicator

T

T

4

track mag

Track made good, degrees Magnetic;
Track mag = Track true + (MAGVAR correction)
See the MAGVAR command on page 201

x.x

24.168

5

M

Magnetic track indicator

M

M

6

speed Kn

Speed over ground, knots

x.x

0.4220347

7

N

Nautical speed indicator (N = Knots)

N

N

8

speed Km

Speed, kilometres/hour

x.x

0.781608

9

K

Speed indicator (K = km/hr)

K

K

10

mode ind

Positioning system mode indicator, see Table 106, NMEA Positioning
a
System Mode Indicator on page 479

A

11

*xx

Checksum

*7A

12

[CR][LF]

Sentence terminator

OEM6 Firmware Reference Manual Rev 12

$GPVTG

*hh

[CR][LF]

485

Data Logs

Chapter 3

3.2.59 GPZDA
UTC time and date
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The GPSZDA log outputs the UTC date and time. If no valid almanac is stored in the receiver, a default UTC
offset is used to generate the time until a new almanac is downloaded. If the offset is not up-to-date, this
initial UTC time may be incorrect until the new almanac is present.
Message ID:

227

Log Type:

Synch

Recommended Input:
log gpzda ontime 1
Example:
$GPZDA,143042.00,25,08,2005,,*6E
See the GPGGA usage box that applies to all NMEA logs on page 460.

Field

Structure

Description

Symbol

Example

1

$GPZDA

Log header

$GPZDA

2

utc

UTC time status

hhmmss.ss

220238.00

3

day

Day, 01 to 31

xx

15

4

month

Month, 01 to 12

xx

07

5

year

Year

xxxx

1992

6

null

Local zone description—not available

xx

(empty when no data is
present)

7

null

Local zone minutes description—not available a

xx

(empty when no data is
present)

8

*xx

Checksum

*hh

*6F

9

[CR][LF]

Sentence terminator

[CR][LF]

a. Local time zones are not supported by OEM6 family receivers. Fields 6 and 7 are always null.

OEM6 Firmware Reference Manual Rev 12

486

Data Logs

Chapter 3

3.2.60 HEADING
Heading information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The heading is the angle from True North of the base to rover vector in a clockwise direction. This log can be
output at both Master and Rover ends.
You must have an ALIGN capable receiver to use this log.

Asynchronous logs, such as HEADING, should only be logged ONCHANGED or ONNEW
otherwise the most current data is not available or included in the output. An example of this
occurrence is in the ONTIME trigger. If this trigger is not logged ONCHANGED, it may cause
inaccurate time tags.
The HEADING log is dictated by the output frequency of the master receiver sending out
RTCAOBS2, RTCAOBS3 or NovAtelXObs messages. For the OEM628 and OEM638
HEADING now supports 20 Hz output rate. Ensure sufficient radio bandwidth is available
between the ALIGN Master and the ALIGN Rover.
Message ID:

971

Log Type:

Asynch

Recommended Input:
log headinga onchanged
ASCII Example:
#HEADINGA,COM1,0,66.5,FINESTEERING,1844,505873.200,00040020,22a9,13306;
SOL_COMPUTED,NARROW_INT,12.801044464,160.432525635,-0.015716553,0.0,
0.018702479,0.029530477,"G097",18,16,16,16,00,01,00,33*c9cd21f6
Field

Field type

Description

1

HEADING
header

Log header

2

sol stat

Solution status, see Table 83, Solution Status on page 395

3

pos type

4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Position type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

length

Baseline length (0 to 3000 m)a
For Z ALIGN Rovers, this field outputs decimal portion of the
baseline

Float

4

H+8

5

heading

Heading in degrees (0 to 360.0 degrees)

Float

4

H+12

6

pitch

Pitch (90 degrees)

Float

4

H+16

7

Reserved

Float

4

H+20

OEM6 Firmware Reference Manual Rev 12

487

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset

8

hdg std dev Heading standard deviation in degrees

Float

4

H+24

9

ptch std dev Pitch standard deviation in degrees

Float

4

H+28

10

stn ID

Station ID string

Char[4]

4

H+32

11

#SVs

Number of satellites tracked

Uchar

1

H+36

12

#solnSVs

Number of satellites in solution

Uchar

1

H+37

13

#obs

Number of satellites above the elevation mask angle

Uchar

1

H+38

14

#multi

Number of satellites above the mask angle with L2

Uchar

1

H+39

15

sol source

Solution source (see Table 108, Solution Source on page 488)

Hex

1

16

ext sol stat

Extended solution status (see Table 87, Extended Solution
Status on page 398)

Hex

1

17

Galileo and
Galileo and BeiDou signals used mask (see Table 85,
BeiDou sig
Hex
BESTPOS Galileo and BeiDou Signal-Used Mask on page 398)
mask

1

H+42

18

GPS and
GLONASS
sig mask

GPS and GLONASS signals used mask (see Table 86,
BESTPOS GPS and GLONASS Signal-Used Mask on
page 398)

Hex

1

H+43

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. This is only true for L1 GPS + GLONASS Heading. If the user has a dual-frequency heading model, traditional RTK
baseline lengths apply.

Table 108: Solution Source
Bit

Mask

0-1

0x03

2-3

0x0C

Description
Reserved
Source antenna
0=Primary antenna
1=Secondary antenna

4-7

OEM6 Firmware Reference Manual Rev 12

0xF0

Reserved

488

Data Logs

Chapter 3

3.2.61 HEADING2
Heading information with multiple rovers
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The heading is the angle from True North of the base to rover vector in a clockwise direction. This log is
similar to the HEADING log (see page 487) with additional rover ID field. This log can be output at both
Master and Rover ends.
An ALIGN capable receiver is required to use this log.

Asynchronous logs, such as HEADING and HEADING2, should only be logged ONCHANGED
or ONNEW otherwise the most current data is not available or included in the output. An
example of this occurrence is in the ONTIME trigger. If this trigger is not logged ONCHANGED,
it may cause inaccurate time tags.
The HEADING2 log is dictated by the output frequency of the master receiver sending out
RTCAOBS2, RTCAOBS3 or NovAtelXObs messages. For the OEM628 and OEM638,
HEADING2 now supports 20 Hz output rate. Ensure sufficient radio bandwidth is available
between the ALIGN Master and the ALIGN Rover.
Message ID:

1335

Log Type:

Asynch

Recommended Input:
log heading2a onnew
ASCII Example:
#HEADING2A,COM1,0,39.5,FINESTEERING,1622,422892.200,00040000,f9bf,6521;
SOL_COMPUTED,NARROW_INT,0.927607417,178.347869873,-1.3037414550.0,
0.261901051,0.391376048,"R222","AAAA",18,17,17,16,0,01,0,33*7be836f6
Field

Field type

Description

1

HEADING2 Log header

2

sol stat

Solution status, see Table 83, Solution Status on page 395

3

pos type

Position type, see Table 84, Position or Velocity Type on
page 396

Binary
Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Enum

4

H+4

Baseline length in metres
4

length

For Z ALIGN Rovers, this field outputs decimal portion of the
baseline

Float

4

H+8

5

heading

Heading in degrees (0° to 359.999°)

Float

4

H+12

6

pitch

Pitch (90 degrees)

Float

4

H+16

7

Reserved

Float

4

H+20

OEM6 Firmware Reference Manual Rev 12

489

Data Logs

Field

Chapter 3

Field type

Binary
Format

Description

Binary Binary
Bytes Offset

8

hdg std dev Heading standard deviation in degrees

Float

4

H+24

9

ptch std
dev

Float

4

H+28

Char[4]

4

H+32

Char[4]

4

H+36

Pitch standard deviation in degrees
Rover Receiver ID

10

rover stn ID

Set using the SETROVERID command (see page 289) on the
Rover
e.g. setroverid RRRR
Master Receiver ID

11

Master stn
ID

Set using the DGPSTXID command (see page 121) on the
Master
Default: AAAA

12

#SVs

Number of satellites tracked

Uchar

1

H+40

13

#solnSVs

Number of satellites in solution

Uchar

1

H+41

14

#obs

Number of satellites above the elevation mask angle

Uchar

1

H+42

15

#multi

Number of satellites above the mask angle with L2

Uchar

1

H+43

16

sol source

Solution source (see Table 108, Solution Source on page 488) Hex

1

H+44

17

ext sol stat

Extended solution status (see Table 87, Extended Solution
Status on page 398)

Uchar

1

H+45

18

Galileo and Galileo and BeiDou signals used mask (see Table 85,
BeiDou sig BESTPOS Galileo and BeiDou Signal-Used Mask on
mask
page 398)

Hex

1

H+46

19

GPS and
GPS and GLONASS signals used mask (see Table 86,
GLONASS BESTPOS GPS and GLONASS Signal-Used Mask on
sig mask
page 398)

Hex

1

H+47

20

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

21

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

490

Data Logs

Chapter 3

3.2.62 HEADINGRATE
Heading rate information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log provides rate of change for the heading parameters. The heading is the angle from True North of the
base to rover vector in a clockwise direction.
You must have an ALIGN capable receiver to use this log.

Message ID:

1698

Log Type:

Asynch

Recommended Input:
log headingratea onchanged
ASCII Example:
#HEADINGRATEA,UNKNOWN,0,60.0,FINESTEERING,1873,411044.700,02040008,c53a,32768;
SOL_COMPUTED,NARROW_INT,0.025000000,0.000000000,-0.308837891,0.575313330,
0.000000000,1.264251590,1.663657904,0.0,"748M","725U",00,0,0,0*66f97b96
Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

1

HEADINGRATE
Log header
header

H

0

2

sol stat

Solution status, see Table 83, Solution Status on page 395 Enum

4

H

3

pos type

Position type, see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

4

latency

A measure of the latency in the velocity time tag in
seconds. It should be subtracted from the time to give
improved results.

Float

4

H+8

Rate of change of the baseline length in m/s.
5

length rate

For Z ALIGN rovers, this field outputs the decimal portion Float
of the baseline rate.

4

H+12

6

heading rate

Rate of change of the heading in °/s

Float

4

H+16

7

pitch rate

Rate of change of the pitch in °/s

Float

4

H+20

8

length rate std
dev

Baseline rate standard deviation in m/s

Float

4

H+24

9

heading rate std
Heading rate standard deviation in °/s
dev

Float

4

H+28

10

pitch rate std dev Pitch rate standard deviation in °/s

Float

4

H+32

11

Reserved

Float

4

H+36

OEM6 Firmware Reference Manual Rev 12

491

Data Logs

Field

Chapter 3

Field type

Description

Binary
Bytes

Binary
Offset

4

H+40

4

H+44

Hex

1

H+48

Format

Rover Receiver ID
12

rover stn ID

Set using the SETROVERID command (see page 289) on Uchar
the Rover receiver. For example, setroverid RRRR.
Master Receiver ID

13

master stn ID

Set using the DGPSTXID command (see page 121) on the Uchar
Master receiver. Default: AAAA

14

sol source

15

Reserved

Uchar

1

H+49

16

Reserved

Uchar

1

H+50

17

Reserved

Uchar

1

H+51

18

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+52

19

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Solution source (see Table 108, Solution Source on
page 488)

OEM6 Firmware Reference Manual Rev 12

492

Data Logs

Chapter 3

3.2.63 HEADINGSATS
Satellite used in heading solution
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log provides information on the satellites that are used in a heading solution.
The HEADINGSATS log can only be used from the ALIGN rover.

Message ID:

1316

Log Type:

Asynch

Recommended Input:
log headingsatsa onnew
ASCII Example:
#HEADINGSATSA,COM1,0,26.0,FINESTEERING,1625,344654.600,00000008,f5b0,6569;17,
GPS,31,GOOD,00000003,GPS,23,GOOD,00000003,GPS,30,GOOD,00000003,GPS,16,GOOD,
00000003,GPS,20,GOOD,00000003,GPS,25,GOOD,00000003,GPS,4,GOOD,00000003,GPS,24,
GOOD,00000003,GPS,11,GOOD,00000003,GPS,32,GOOD,00000003,GPS,14,GOOD,00000003,
GLONASS,20+2,GOOD,00000003,GLONASS,14-7,GOOD,00000001,GLONASS,2-4,GOOD,
00000003,GLONASS,13-2,GOOD,00000003,GLONASS,12-1,GOOD,00000003,GLONASS,19+3,
GOOD,00000001*15ec53a6
Field

Field type

Description

1

HEADINGSATS Log header

2

#entries

Number of records to follow

3

System

Refer to Table 109, Satellite System on page 494.

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Enum

4

H+4

Satellite ID

In binary logs, the satellite ID field is 4 bytes. The 2 lowestorder bytes, interpreted as a USHORT, are the system
identifier: for instance, the PRN for GPS, or the slot for
GLONASS. The 2 highest-order bytes are the frequency
channel for GLONASS, interpreted as a SHORT and zero for
all other systems.
Ulong
In ASCII and abbreviated ASCII logs, the satellite ID field is the
system identifier. If the system is GLONASS and the
frequency channel is not zero, then the signed channel is
appended to the system identifier. For example, slot 13,
frequency channel -2 is output as 13-2

4

H+8

5

Status

see Table 89, Observation Statuses on page 401

Enum

4

H+12

6

Signal Mask

see Table 90, BESTSATS GPS Signal Mask on page 402
through Table 93, BESTSATS BeiDou Signal Mask on
page 402

Hex

4

H+16

7

Next satellite offset = H + 4 + (#sat x 16)

OEM6 Firmware Reference Manual Rev 12

493

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+(#
satx16)

9

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

Table 109: Satellite System
Binary Value

OEM6 Firmware Reference Manual Rev 12

ASCII Mode Name

0

GPS

1

GLONASS

2

SBAS

5

Galileo

6

BeiDou

7

QZSS

494

Data Logs

Chapter 3

3.2.64 HWMONITOR
Monitor hardware levels
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log allows the user to monitor temperature, antenna current and voltages.
Message ID:

963

Log Type:

Polled

Recommended Input:
log hwmonitora ontime 10
ASCII Example:
#HWMONITORA,COM1,0,83.0,FINESTEERING,1681,319572.841,00000020,52db,10526;10,
43.312500000,100,0.000000000,200,3.207038403,300,1.881818175,400,2.787878752,
500,5.085718632,600,0.000000000,700,1.200586438,800,1.313000917,900,1.816617727
,a00*fe36fddc
Field

Field Type

Description

1

HWMONITOR
header

2

# measurements Number of measurements to follow

Format

Log Header

Binary
Bytes

Binary Offset

H

0

Ulong

4

H

Float

4

H+4

HexUlong

4

H+8

Temperature, antenna current or voltage
reading
Units:
3

reading

Degree Celsius for Temperature
Amps for Antenna Current
Volts for Voltage
See Table 110, HWMONITOR Status
Table on page 496

4

status

5...

Next reading offset = H + 4 + (# measurements x 8)

6

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(# measurements x 8)

7

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

495

Data Logs

Chapter 3
Table 110: HWMONITOR Status Table

Bits

Description

Applicable OEM
Platform

Boundary Limit Status (Hex):
0X00 = Value falls within acceptable bounds
0-7

0X01 = Value is under the lower warning limit
0X02 = Value is under the lower error limit
0X03 = Value is over the upper warning limit
0X04 = Value is over the upper error limit
Reading Type (Hex):
0X00 = Reserved
0X01 = Temperature
A temperature sensor is located on the receiver and provides the
615, 617, 628, 638
approximate temperature of the PCB surface near critical components
(for example, CPU, TCXO) (degrees Celsius)
0X02 = Antenna Current
The amount of current being drawn by the active antenna (mA)

628, 638

0X03 = MID3V3 Voltage
Output of the 3.3V regulator. This the primary supply to other regulators 628, 638
providing voltages to components on the receiver. (Volts)

8-15

0X04 = VNIOL Voltage

628

0X05 = VNIOH Voltage

628

0X06 = Supply Voltage
Input supply voltage (Volts)
0X07 = Antenna Voltage

628, 638
628

0X08 = Digital Core Voltage
Internal regulator output voltage supplying a key component on the
receiver (Volts)

628, 638

0X09 = VCC Core Voltage

628

0X10 = VCC Mem Voltage

628

0X13 = GPIA
The voltage on pin 34 of the main header on the OEM638.
Not connected in the ProPak-6. (Volts)

638

0X14 = FPGA Voltage
Internal regulator output voltage supplying a key component on the
receiver (Volts)

OEM6 Firmware Reference Manual Rev 12

638

496

Data Logs

Chapter 3

Bits

Description

Applicable OEM
Platform

0X15 = Digital IO
Internal regulator output voltage supplying a key component on the
receiver (Volts)

638

0X16 = VIOL
Internal regulator output voltage supplying a key component on the
receiver (Volts)

638

0X17 = 1V8
Internal regulator output voltage supplying a key component on the
receiver (Volts)
0X18 = VDD1
8-15
(continued)

Internal regulator output voltage supplying VDD (Volts)
0X19 = VDD2
Internal regulator output voltage supplying second VDD (Volts)

638

638
638

0X20 = LNA IMON
The amount of current being drawn by the Low Noise Amplifier in an
active antenna (mA)
0X21 = 5 V
On card 5V supply

638

638

0X22 = Secondary Temperature
A second temperature sensor is located on the receiver PCB (degrees 638
Celsius)

The OEM638 accepts one of two power supplies: 4.5V-36V can be provided to the wide range
supply on the main connector; or 3.3V can be provided on the expansion connector. When the
wide range supply is not used, Reading Type 6 is not applicable and may report a status of 602,
indicating the Supply Voltage is under the lower error limit. In these circumstances, this error
reading can be ignored.

OEM6 Firmware Reference Manual Rev 12

497

Data Logs

Chapter 3

3.2.65 IONUTC
Ionospheric and UTC data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the Ionospheric Model parameters (ION) and the Universal Time Coordinated parameters
(UTC).
Message ID:

8

Log Type:

Asynch

Recommended Input:
log ionutca onchanged
ASCII Example:
#IONUTCA,COM1,0,58.5,FINESTEERING,1337,397740.107,00000000,ec21,1984;
1.210719347000122e-08,2.235174179077148e-08,-5.960464477539062e-08,
-1.192092895507812e-07,1.003520000000000e+05,1.146880000000000e+05,
-6.553600000000000e+04,-3.276800000000000e+05,1337,589824,
-1.2107193470001221e-08,-3.907985047e-14,1355,7,13,14,0*c1dfd456
The Receiver-Independent Exchange (RINEX1a) format is a broadly accepted, receiver
independent format for storing GPS data. It features a non-proprietary ASCII file format that can
be used to combine or process data generated by receivers made by different manufacturers.
Use the NovAtel’s Convert4 utility to produce RINEX files from NovAtel receiver data files. For
the best results, the NovAtel receiver input data file should contain the logs as specified in the
PC Software and Firmware chapter of the OEM6 Family Installation and Operation User Manual
(OM-20000128) including IONUTC.
a. Refer to the U.S. National Geodetic Survey website at: www.ngs.noaa.gov/CORS/data.shtml.

Field

Field type

Description

1

IONUTC header

Log header

2

a0

Alpha parameter constant term

3

a1

4

Format

Binary
Bytes

Binary
Offset

H

0

Double

8

H

Alpha parameter 1st order term

Double

8

H+8

a2

Alpha parameter 2nd order term

Double

8

H+16

5

a3

Alpha parameter 3rd order term

Double

8

H+24

6

b0

Beta parameter constant term

Double

8

H+32

7

b1

Beta parameter 1st order term

Double

8

H+40

8

b2

Beta parameter 2nd order term

Double

8

H+48

9

b3

Beta parameter 3rd order term

Double

8

H+56

10

utc wn

UTC reference week number

Ulong

4

H+64

OEM6 Firmware Reference Manual Rev 12

498

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary
Bytes

Binary
Offset

11

tot

Reference time of UTC parameters

Ulong

4

H+68

12

A0

UTC constant term of polynomial

Double

8

H+72

13

A1

UTC 1st order term of polynomial

Double

8

H+80

14

wn lsf

Future week number

Ulong

4

H+88

15

dn

Day number (the range is 1 to 7 where Sunday = 1
and Saturday = 7)

Ulong

4

H+92

16

deltat ls

Delta time due to leap seconds

Long

4

H+96

17

deltat lsf

Future delta time due to leap seconds

Long

4

H+100

18

Reserved (4 bytes, with offset H+104)

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+108

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

499

Data Logs

Chapter 3

3.2.66 IPSTATS
IP statistics
OEM Platform:

628, 638, FlexPak6, ProPak6

This log contains the current IP interface statistics.
Message ID:

1669

Log Type:

Polled

Recommended Input:
log ipstatsa
ASCII Example:
#IPSTATSA,COM1,0,70.5,FINESTEERING,1749,328376.337,00000020,0d94,45068;1,CELL,
0,526,526*01c4847c
Field

Field Type

Description

1

IPSTATS header

Log Header

2

#Interface

Number of records to follow

Binary
Bytes

Format

Binary Offset

H

0

Ulong

4

H

Enum

4

H+4

Ulong

4

H+8

IP Interface Type
1 = ALL
3

Physical Interface

2 = ETHA
10 = WIFI
20 = CELL

4

Reserved

5

Receive Bytes

Total number of bytes received

Ulong

4

H+13

6

Transmit Bytes

Total number of bytes transmitted

Ulong

4

H+16

7

Next Reading Offset = H+4+(#Interface x 16)

8

xxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+(interface
x 16)

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

500

Data Logs

Chapter 3

3.2.67 IPSTATUS
Current network configuration status
OEM Platform:

628, 638, FlexPak6, ProPak6

This log provides the configuration of IP address, netmask, gateway and a list of DNS servers currently in
use.
Message ID:

1289

Log Type:

Polled

Recommended Input:
log ipstatusa once
ASCII Example:
#IPSTATUSA,COM1,0,90.5,FINESTEERING,1609,500464.121,00000000,7fe2,6259;1,ETHA,
"10.4.44.131","255.255.255.0","10.4.44.1",1,"198.161.72.85"*ec22236c
Field Field Type

Description

Format

Binary
Bytes

Binary Offset

1

IPSTATUS
Log header
Header

-

H

0

2

#IPrec

Ulong

4

H

Enum

4

H+4

Number of records to follow
Name of the network interface

3

interface

2 = ETHA
10 = WIFI
20 = CELL

4

IP address IP Address-decimal dot notation

String[16] variablea H+8

5

netmask

String[16] variablea H+24

Netmask-decimal dot notation
Gateway-decimal dot notation

The gateway address is only included in the IP
record for the network interface that is configured as String[16]
variablea H+40
the preferred network interface. This is the default
gateway that is currently in use by the receiver (see
the SETPREFERREDNETIF command on page 287).

6

gateway

7...

Next reading offset = H+4+(#IPrec * 52)
Number of DNS Servers to follow

8

The DNS servers used by the receiver are restricted
#dnsserver to those DNS servers configured for the preferred
Ulong
network interface (see the SETPREFERREDNETIF
command on page 287).

9

server IP
address

10...

Next reading offset = H+4+(#IPrec * 52)+4+(#dnsserver * 16)

IP address-decimal dot notation

OEM6 Firmware Reference Manual Rev 12

4

H+4+
(#IPrec x 52)

H+4+
String[16] variablea
(#IPrec x 52)+4

501

Data Logs

Field Field Type

Chapter 3

Description

Binary
Bytes

Format

Binary Offset

11

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#IPrec x 52)+4+
(#dnsserver x 16)

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

502

Data Logs

Chapter 3

3.2.68 LBANDBEAMTABLE
List of L-Band beams
OEM Platform:

628, 638, FlexPak6, ProPak6

This log lists the TerraStar and Veripos L-Band beams known to the receiver.
Message ID:

1718

Log Type:

Asynch

Recommended Input:
log lbandbeamtablea onchanged
Abbreviated ASCII Example:


•

any block of characters ending in a 

•

any block remaining in the receiver code when a timeout occurs (100 ms)

If the data being injected is binary or the port INTERFACEMODE mode is set to GENERIC, then the data is
grouped as follows:
•

blocks of 80 bytes

•

any block remaining in the receiver code when a timeout occurs (100 ms)

If a binary value is encountered in an ASCII output, then the byte is output as a hexadecimal byte preceded
by a backslash and an x. For example 0A is output as \x0A. An actual ‘\’ in the data is output as \\. The output
counts as one pass through byte although it is four characters.
The first character of each pass-through record is time tagged in GPS reference weeks and seconds.

OEM6 Firmware Reference Manual Rev 12

543

Data Logs

Chapter 3

PASSCOM1 Message ID: 233
PASSCOM2 Message ID: 234
PASSCOM3 Message ID: 235
PASSCOM4 Message ID: 1384
PASSCOM5 Message ID: 1576
PASSCOM6 Message ID: 1577
PASSXCOM1 Message ID: 405
PASSXCOM2 Message ID: 406
PASSXCOM3 Message ID: 795
PASSUSB1 Message ID: 607
PASSUSB2 Message ID: 608
PASSUSB3 Message ID: 609
PASSAUX Message ID: 690
PASSETH1 Message ID: 1209
PASSICOM1 Message ID: 1250
PASSICOM2 Message ID: 1251
PASSICOM3 Message ID: 1252
PASSNCOM1 Message ID: 1253
PASSNCOM2 Message ID: 1254
PASSNCOM3 Message ID: 1255
PASSCOM7 Message ID: 1701
PASSCOM8 Message ID: 1702
PASSCOM9 Message ID: 1703
PASSCOM10 Message ID: 1704
Log Type:

Asynch

Recommended Input:
log passcom1a onchanged
Asynchronous logs should only be logged ONCHANGED otherwise the most current data is not
output when it is available. This is especially true of the ONTIME trigger, which may cause
inaccurate time tags to result.

OEM6 Firmware Reference Manual Rev 12

544

Data Logs

Chapter 3

ASCII Example 1:
#PASSCOM2A,COM1,0,59.5,FINESTEERING,1337,400920.135,00000000,2b46,1984;80,
#BESTPOSA,COM3,0,80.0,FINESTEERING,1337,400920.000,00000000,4ca6,1899;
SOL_COMPUT*f9dfab46
#PASSCOM2A,COM1,0,64.0,FINESTEERING,1337,400920.201,00000000,2b46,1984;80,ED,
SINGLE,51.11636326036,-114.03824210485,1062.6015,-16.2713,WGS84,1.8963,
1.0674*807fd3ca
#PASSCOM2A,COM1,0,53.5,FINESTEERING,1337,400920.856,00000000,2b46,1984;49,,
2.2862,"",0.000,0.000,9,9,0,0,0,0,0,0*20b24878\x0d\x0a*3eef4220
#PASSCOM1A,COM1,0,53.5,FINESTEERING,1337,400922.463,00000000,13ff,1984;17,
unlog passcom2a\x0d\x0a*ef8d2508
ASCII Example 2:
#PASSCOM2A,COM1,0,53.0,FINESTEERING,1337,400040.151,00000000,2b46,1984;80,\x99A
\x10\x04\x07yN &\xc6\xea\xf10\x00\x01\xde\x00\x00\x10\xfe\xbf\xfe1\xfe\x9c\xf4
\x03\xe2\xef\x9f\x1f\xf3\xff\xd6\xff\xc3_A~z \xaa\xfe\xbf\xf9\xd3\xf8\xd4\xf4\xe8kHo\xe2\x00>\xe0QOC>\xc3\x9c\x11\xff\x7f\xf4\xa1\xf3t\xf4'\xf4xvo\xe6\x00\
x9d*dcd2e989
In the example, note that ‘~’ is a printable character.
For example, you could connect two OEM6 family receivers together via their COM1 ports such
as in the Figure 12, Pass Through Log Data on page 545 (a rover station to base station
scenario). If the rover station is logging BESTPOSA data to the base station, it is possible to use
the pass through logs to pass through the received BESTPOSA data to a disk file (let's call it
diskfile.log) at the base station host PC hard disk.
Figure 12: Pass Through Log Data
BESTPOS data log...

Data link
to COM1

to COM1

Rover
Receiver

Base
Receiver
COM2

INTERFACEMODE
COM1 RTCA NOVATEL OFF
LOG COM1
BESTPOSA ONTIME 5

Serial Cables

COM2
FIX POSITION (lat, long, ht)
INTERFACEMODE
COM1 GENERIC RTCA OFF
LOG COM2 PASSCOM1A ONNEW
LOG COM1 RTCAOBS ONTIME 1
LOG COM1 RTCAREF ONTIME 10

Pocket PC - rover
Laptop - base
(Operational with position fixed)
(Rover station is commanding base
station to send RTCAOBS log)

OEM6 Firmware Reference Manual Rev 12

545

Data Logs

Chapter 3

Under default conditions, the two receivers "chatter" back and forth with the Invalid Command Option
message (due to the command interpreter in each receiver not recognizing the command prompts of the
other receiver). The chattering in turn causes the accepting receiver to transmit new pass through logs with
the response data from the other receiver. To avoid the chattering problem, use the INTERFACEMODE
command on the accepting port to disable error reporting from the receiving port command interpreter.
If the accepting port's error reporting is disabled by INTERFACEMODE, the BESTPOSA data record passes
through and creates two records.
The reason that two records are logged from the accepting receiver is the first record was initiated by receipt
of the BESTPOSA first terminator . The second record followed in response to the BESTPOSA second
terminator .
Note the time interval between the first character received and the terminating  can be calculated by
differencing the two GPS reference time tags. This pass through feature is useful for time tagging the arrival
of external messages. These messages can be any user related data. When using this feature for tagging
external events, it is recommended that the rover receiver be disabled from interpreting commands so the
receiver does not respond to the messages, using the INTERFACEMODE command (see page 176).
If the BESTPOSB binary log data is input to the accepting port (log com2 passcom1a onchanged), the
BESTPOSB binary data at the accepting port is converted to a variation of ASCII hexadecimal before it is
passed through to com2 port for logging.
Field

Field Type

Description

1

PASSCOM header

Log header

2

#bytes

Number of bytes to follow

3

data

4
5

Binary
Bytes

Format

Binary Offset

H

0

Ulong

4

H

Message data

Char [80]

80

H+4

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4+(#bytes)

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

546

Data Logs

Chapter 3

3.2.90 PASSTHROUGH
Redirected data from all ports
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log outputs pass through data from all receiver ports. The behavior is the same as the port specific pass
though logs described in Section 3.2.89, PASSCOM, PASSXCOM, PASSAUX, PASSUSB, PASSETH1,
PASSICOM, PASSNCOM on page 543.
Message ID:

1342

Log Type:

Asynch

Recommended Input:
log passthrougha onchanged
ASCII Example:
#PASSTHROUGHA,COM1,0,73.0,FINESTEERING,1625,165965.067,00040008,5fa3,39275;USB1
,80,i\xd3\x00\x87>\xb0\x00'\x91\xb3"\xa0D?\xaa\xb2\x00\x07op\x18@\x05\xe9\xd4\x
08\xe7\x03\x7f\xfd\x18{\x80w\xff\xf2N_cy\x11\x80\x0bC\xdc\x01@\x00\xdfr\xb1`\x8
73\xff\x81]\x7f\xe3\xff\xea\x83v\x08M\xd8?\xfcr\xf7\x01\x18\x00\x17\x1d2\xd1\xd
1b\x00*5cb8bd9a
Field

Field type

Description

1

PASSTHROUGH
Log header
header

2

Port

See Table 58, COM Port Identifiers on page 273

3

#bytes

4

Format

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Number of bytes to follow

Ulong

4

H+4

data

Message data

Char[80]

80

H+8

5

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+8+#bytes

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

547

Data Logs

Chapter 3

3.2.91 PDPPOS
PDP filter position
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The PDPPOS log contains the receiver position computed by the receiver with the PDP filter enabled. See
also the PDPFILTER command on page 216.
Message ID:

469

Log Type:

Synch

Recommended Input:
log pdpposa ontime 1
ASCII Example:
#PDPPOSA,COM1,0,75.5,FINESTEERING,1431,494991.000,00040000,a210,35548;
SOL_COMPUTED,SINGLE,51.11635010310,-114.03832575772,1065.5019,-16.9000,WGS84,
4.7976,2.0897,5.3062,"",0.000,0.000,8,8,0,0,0,0,0,0*3cbfa646
Field

Field type

Description

1

PDPPOS
header

Log header

2

sol status

Solution status (refer to Table 83, Solution Status on page 395)

3

pos type

4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Position type (refer to Table 84, Position or Velocity Type on
page 396)

Enum

4

H+4

lat

Latitude (degrees)

Double

8

H+8

5

lon

Longitude (degrees)

Double

8

H+16

6

hgt

Height above mean sea level (m)

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid and the WGS84
Float
ellipsoid (m) a

4

H+32

8

datum id#

Datum ID number (refer to Table 26, Datum Transformation
Parameters on page 116)

Enum

4

H+36

9

lat 

Latitude standard deviation (m)

Float

4

H+40

10

lon 

Longitude standard deviation (m)

Float

4

H+44

11

hgt 

Height standard deviation (m)

Float

4

H+48

12

stn id

Base station ID

Char[4]

4

H+52

13

diff_age

Differential age in seconds

Float

4

H+56

14

sol_age

Solution age in seconds

Float

4

H+60

15

#sats

Number of satellites tracked

Uchar

1

H+64

16

#sats soln

Number of satellites in the solution

Uchar

1

H+65

OEM6 Firmware Reference Manual Rev 12

548

Data Logs

Field

Chapter 3

Field type

Description

17
18

Reserved

19
Extended solution status (see Table 87, Extended Solution
Status on page 398)

Format

Binary Binary
Bytes Offset

Uchar

1

H+66

Uchar

1

H+67

Hex

1

H+68

20

ext sol stat

Hex

1

H+69

21

Galileo and
Galileo and BeiDou signals used mask (see Table 85, BESTPOS
BeiDou sig
Hex
Galileo and BeiDou Signal-Used Mask on page 398)
mask

1

H+70

22

GPS and
GLONASS
sig mask

GPS and GLONASS signals used mask (see Table 86,
Hex
BESTPOS GPS and GLONASS Signal-Used Mask on page 398)

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between
the datum in use and WGS84.

OEM6 Firmware Reference Manual Rev 12

549

Data Logs

Chapter 3

3.2.92 PDPSATS
Satellites used in PDPPOS solution
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log lists the used and unused satellites for the corresponding PDPPOS solution. It also describes the
signals of the used satellites and reasons for exclusions.
Message ID:

1234

Log Type:

Synch

Recommended Input:
log pdpsatsa ontime 1
Abbreviated ASCII Example:
 is entered, defaults as "Log
COM1 Versiona".
If you want to log version on COM2, then 
command has to be entered.

OEM6 Firmware Reference Manual Rev 12

560

Data Logs

Chapter 3
Table 121: Status Word
Bit #

Mask

Description
Activate Flag

0

0x00000001

1–3

0x0000000E

4

0x00000010

5

0x00000020

Command 2 validation Flag

6

0x00000040

Command 3 validation Flag

7

0x00000080

Command 4 validation Flag

8

0x00000100

Command 5 validation Flag

9

0x00000200

Command 6 validation Flag

10

0x00000400

Command 7 validation Flag

11

0x00000800

Command 8 validation Flag

12

0x00001000

Command 9 validation Flag

13

0x00002000

Command 10 validation Flag

14

0x00004000

Command 11 validation Flag

15

0x00008000

Command 12 validation Flag

16

0x00010000

Command 13 validation Flag

17

0x00020000

Command 14 validation Flag

18

0x00040000

Command 15 validation Flag

19

0x00080000

Command 16 validation Flag

20

0x00100000

Command 17 validation Flag

21

0x00200000

Command 18 validation Flag

22

0x00400000

Command 19 validation Flag

23

0x00800000

Command 20 validation Flag

24 - 31

0xFF000000

Reserved

OEM6 Firmware Reference Manual Rev 12

(0 – Deactivate (default), 1 –Activate)
Reserved
Command 1 validation Flag
(0 – Valid (default), 1 – Invalid)

561

Data Logs

Chapter 3

3.2.99 PSRDOP
Pseudorange DOP
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The dilution of precision data is calculated using the geometry of only those satellites currently being tracked
and used in the position solution by the receiver. This log is updated once every 60 seconds. Therefore, the
total number of data fields output by the log is variable and depends on the number of SVs being tracked.
1. If a satellite is locked out using the LOCKOUT command, it will still show in the prn list but it
will be significantly deweighted in the dop calculation.
2. The vertical dilution of precision can be calculated by:
vdop =  pdop2 - hdop2
3. If the DOP is not yet calculated, a default value of 9999.0 is displayed.
Message ID:

174

Log Type:

Asynch

Recommended Input:
log psrdopa onchanged
ASCII Example:
#PSRDOPA,COM1,0,56.5,FINESTEERING,1337,403100.000,00000000,768f,1984;1.9695,
1.7613,1.0630,1.3808,0.8812,5.0,10,14,22,25,1,24,11,5,20,30,7*106de10a
When operating in differential mode, you require at least four common satellites at the base and
rover. The number of common satellites being tracked at large distances is less than at short
distances. This is important because the accuracy of GPS and DGPS positions depend a great
deal on how many satellites are being used in the solution (redundancy) and the geometry of
the satellites being used (DOP). DOP stands for Dilution Of Precision and refers to the
geometry of the satellites. A good DOP occurs when the satellites being tracked and used are
evenly distributed throughout the sky. A bad DOP occurs when the satellites being tracked and
used are not evenly distributed throughout the sky or grouped together in one part of the sky.

Field Field type

Description

1

PSRDOP
header

Log header

2

gdop

Geometric dilution of precision - assumes 3D position and
receiver clock offset (all 4 parameters) are unknown

3

Format

Binary
Bytes

Binary
Offset

H

0

Float

4

H

pdop

Position dilution of precision - assumes 3D position is unknown
Float
and receiver clock offset is known

4

H+4

4

hdop

Horizontal dilution of precision.

Float

4

H+8

5

htdop

Horizontal position and time dilution of precision.

Float

4

H+12

OEM6 Firmware Reference Manual Rev 12

562

Data Logs

Chapter 3

Field Field type

Description

Format

Binary
Bytes

Binary
Offset

6

tdop

Time dilution of precision - assumes 3D position is known and
only the receiver clock offset is unknown

Float

4

H+16

7

cutoff

GPS elevation cut-off angle

Float

4

H+20

8

#PRN

Number of satellites PRNs to follow

Long

4

H+24

9

PRN

PRN of SV PRN tracking, null field until position solution
available

Ulong

4

H+28

10...

Next PRN offset = H+28+(#prn x 4)

11

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+28+
(#prn x 4)

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

563

Data Logs

Chapter 3

3.2.100 PSRDOP2
Pseudorange DOP
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log is similar to the PSRDOP log but contains the per system Time Dilution of Precision (TDOP).
Message ID:

1163

Log Type:

Asynch

Recommended Input:
log psrdop2a onchanged
ASCII Example:
#PSRDOP2A,COM1,0,89.5,FINESTEERING,1613,164820.000,00000008,0802,39031;1.6740,
1.3010,0.6900,1.1030,2,GPS,0.6890,GLONASS,0.7980*5dd123d0.
Field Field type

Description

1

PSRDOP2
Log header
header

2

GDOP

3

Format

Binary
Binary Offset
Bytes
H

0

Geometric dilution of precision - assumes 3D position and
Float
receiver clock offset (all 4 parameters) are unknown

4

H

PDOP

Position dilution of precision - assumes 3D position is
unknown and receiver clock offset is known

Float

4

H+4

4

HDOP

Horizontal dilution of precision

Float

4

H+8

5

VDOP

Vertical dilution of precision

Float

4

H+12

6

#systems

Number of systems

Ulong

4

H+16

7

system

See Table 65, System Used for Timing on page 296

Enum

4

H+20

8

TDOP

Time dilution of precision

Float

4

H+24

9

Next satellite offset = H+20+(#systems x 8)

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+20+
(#systems x 8)

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

564

Data Logs

Chapter 3

3.2.101 PSRPOS
Pseudorange position
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the position (in metres) computed by the receiver, along with three status flags. In addition,
it reports other status indicators, including differential age, which is useful in predicting anomalous behavior
brought about by outages in differential corrections.
Message ID:

47

Log Type:

Synch

Recommended Input:
log psrposa ontime 1
ASCII Example:
#PSRPOSA,COM1,0,58.5,FINESTEERING,1419,340037.000,00000040,6326,2724;
SOL_COMPUTED,SINGLE,51.11636177893,-114.03832396506,1062.5470,-16.2712,WGS84,
1.8532,1.4199,3.3168,"",0.000,0.000,12,12,0,0,0,06,0,33*d200a78c
There are DGPS use cases in which the base receiver is not maintained or controlled by the
positioning user. For example, the US Coast Guard operates a differential correction service
which broadcasts GPS differential corrections over marine radio beacons. As a user, all you
need is a marine beacon receiver and a GNSS receiver to achieve positioning accuracy of less
than 1 metre. In this case, the Coast Guard owns and operates the base receiver at known
coordinates. Other examples of users appearing to use only one GNSS receiver include FM
radio station correction services, privately owned radio transmitters and corrections carried by
communication satellites. Some of the radio receivers have built-in GNSS receivers and
combined antennas, so they even appear to look as one self contained unit.
The major factors degrading GPS signals which can be removed or reduced with differential
methods are the atmosphere, ionosphere, satellite orbit errors, and satellite clock errors. Some
errors which are not removed include receiver noise and multipath.

Field Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

PSRPOS
header

Log header

2

sol status

Solution status (see Table 83, Solution Status on page 395)

Enum

4

H

3

pos type

Position type (see Table 84, Position or Velocity Type on
page 396)

Enum

4

H+4

4

lat

Latitude (degrees)

Double

8

H+8

5

lon

Longitude (degrees)

Double

8

H+16

6

hgt

Height above mean sea level (m)

Double

8

H+24

OEM6 Firmware Reference Manual Rev 12

565

Data Logs

Chapter 3

Field Field type

Description

Format

Binary
Bytes

Binary
Offset

7

undulation

Undulation - the relationship between the geoid and the WGS84
Float
ellipsoid (m)a

4

H+32

8

datum id#

Datum ID number (see Table 26, Datum Transformation
Parameters on page 116)

Enum

4

H+36

9

lat 

Latitude standard deviation (m)

Float

4

H+40

10

lon 

Longitude standard deviation (m)

Float

4

H+44

11

hgt 

Height standard deviation (m)

Float

4

H+48

12

stn id

Base station ID

Char[4] 4

H+52

13

diff_age

Differential age in seconds

Float

4

H+56

14

sol_age

Solution age in seconds

Float

4

H+60

15

#SVs

Number of satellites tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+65

Uchar

1

H+66

Uchar

1

H+67

Hex

1

H+68

17
18

Reserved

19
Extended solution status (see Table 87, Extended Solution
Status on page 398)

20

ext sol stat

Hex

1

H+69

21

Galileo and
Galileo and BeiDou signals used mask (see Table 85,
Hex
BeiDou sig
BESTPOS Galileo and BeiDou Signal-Used Mask on page 398)
mask

1

H+70

22

GPS and
GPS and GLONASS signals used mask (see Table 86,
GLONASS BESTPOS GPS and GLONASS Signal-Used Mask on
sig mask
page 398)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between
the datum in use and WGS84.

OEM6 Firmware Reference Manual Rev 12

566

Data Logs

Chapter 3

3.2.102 PSRSATS
Satellites used in PSRPOS solution
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log lists the used and unused satellites for the corresponding PSRPOS solution. It also describes the
signals of the used satellites and reasons for exclusions.
Message ID:

1162

Log Type:

Synch

Recommended Input:
log psrsats ontime 1
Abbreviated ASCII Example:
 1 is a hyperbola

OEM6 Firmware Reference Manual Rev 12

574

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary
Bytes

Binary
Offset

7

ώ

Rate of right ascension (radians/s)

Double

8

H+28

8

ω0

Right, ascension (radians)

Double

8

H+36

9

ω

Argument of perigee (radians) measurement along the
orbital path from the ascending node to the point where
Double
the SV is closest to the Earth, in the direction of the SVs
motion

8

H+44

10

M0

Mean anomaly of reference time (radians)

Double

8

H+52

11

af0

Clock aging parameter (s)

Double

8

H+60

12

af1

Clock aging parameter (s/s)

Double

8

H+68

13

N

Corrected mean motion (radians/s)

Double

8

H+76

14

A

Semi-major axis (m)

Double

8

H+84

15

inclination angle

Angle of inclination

Double

8

H+92

16

health-prn

SV health from Page 25 of subframe 4 or 5 (6 bits)

Ulong

4

H+100

17

health-alm

SV health from almanac (8 bits)

Ulong

4

H+104

18

Next PRN offset = H+4+(#messages x 104)

19

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4+
(#messages
x 104)

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

575

Data Logs

Chapter 3

3.2.107 QZSSEPHEMERIS
Decoded QZSS parameters
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains a single set of QZSS ephemeris parameters.
Message ID:

1336

Log Type:

Asynch

Recommended Input:
log qzssephemerisa onchanged
ASCII Example:
#QZSSEPHEMERISA,COM1,0,93.5,SATTIME,1642,153690.000,00000008,1e9d,39655;193,
153690.000000000,7,201,201,1642,1642,154800.000000000,4.216030971806980e+07,
2.115802417e-09,-2.152109479,0.075863329,-1.573817810,-0.000007546,0.000009645,
-177.375000000,-219.875000000,-0.000000797,-0.000002151,0.711859299,
-2.978695503e-10,-1.443966112,-1.636139580e-09,713,154800.000000000,
-5.122274160e-09,-0.000000163,1.250555215e-12,0.000000000,FALSE,0.000072933,
4.000000000,0,0,0,0*fbb52c7f
Field

Field Type

Description

Format

Binary Binary
Bytes Offset

1

QZSSEPHEMERIS
Log header
header

2

PRN

Satellite PRN number

Ulong

3

tow

Time stamp of subframe 0 (s)

Double 8

H+4

4

health

Health status - a 6-bit health code as defined in QZSS
Interface Specification

Ulong

4

H+12

5

IODE1

Issue of ephemeris data 1

Ulong

4

H+16

6

IODE2

Issue of ephemeris data 2

Ulong

4

H+20

7

week

GPS reference week number

Ulong

4

H+24

8

z week

Z count week number. This is the week number from
subframe 1 of the ephemeris. The ‘toe week’ (field #7) is
derived from this to account for rollover

Ulong

4

H+28

9

toe

Reference time for ephemeris (s)

Double 8

H+32

10

A

Semi-major axis (m)

Double 8

H+40

11

ΔN

Mean motion difference (radians/s)

Double 8

H+48

12

M0

Mean anomaly of reference time (radius)

Double 8

H+56

ecc

Eccentricity (dimensionless) quantity defined for a conic
section where
e = 0 is a circle,
e = 1 is a parabola,
01 is a hyperbola

Double 8

H+64

13

OEM6 Firmware Reference Manual Rev 12

H

0

4

H

576

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary Binary
Bytes Offset

14

ω

Argument of perigee (radians) measurement along the
orbital path from the ascending node to the point where the
Double 8
SV is closest to the Earth, in the direction of the SVs
motion

15

cuc

Argument of latitude (amplitude of cosine, radians)

Double 8

H+80

16

cus

Argument of latitude (amplitude of sine, radians)

Double 8

H+88

17

crc

Orbit radius (amplitude of cosine, metres)

Double 8

H+96

18

crs

Orbit radius (amplitude of sine, metres)

Double 8

H+104

19

cic

Inclination (amplitude of cosine, radians)

Double 8

H+112

20

cis

Inclination (amplitude of sine, radians)

Double 8

H+120

21

I0

Inclination angle at reference time (radians)

Double 8

H+128

22

İ

Rate of inclination angle (radians/s)

Double 8

H+136

23

ω0

Right ascension (radians)

Double 8

H+144

24

ώ

Rate of right ascension (radians/s)

Double 8

H+152

25

iodc

Issue of data clock

Ulong

4

H+160

26

toc

SV clock correction term s()

Double 8

H+164

27

tgd

Estimated group delay difference (s)

Double 8

H+172

28

afo

Clock aging parameter (s)

Double 8

H+180

29

af1

Clock aging parameter (s/s)

Double 8

H+188

30

af2

Clock aging parameter (s/s/s)

Double 8

H+196

31

AS

Anti-spoofing on:
0= FALSE
1=TRUE

Enum

4

H+204

32

N

Corrected mean motion (radians/s)

Double 8

H+208

URA

User Range Accuracy variance, m2. The ICD specifies
that the URA index transmitted in the ephemerides can be
converted to a nominal standard deviation value using an Double 8
algorithm listed there. We publish the square of the
nominal value (variance)

H+216

33

H+72

Curve fit interval:
34

Fit Interval

0 = Ephemeris data are effective for 2 hours

Uchar

1

H+224

1 = Ephemeris data are effective for more than 2 hours
35

Reserved

Uchar

1

H+225

36

Reserved

Uchar

1

H+226

37

Reserved

Uchar

1

H+227

38

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+228

39

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

577

Data Logs

Chapter 3

3.2.108 QZSSIONUTC
QZSS ionospheric and time information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the Ionospheric Model parameters (ION) and the Universal Time Coordinated parameters
(UTC) for QZSS.
Message ID:

1347

Log Type:

Asynch

Recommended Input:
log qzssionutca onchanged
ASCII Example:
#QZSSIONUTCA,COM1,0,94.0,FINESTEERING,1642,153300.565,00480008,158b,39655;
1.396983861923218e-08,-6.705522537231444e-8,0.000000000000000e+000,
1.788139343261719e-07,8.396800000000000e+04,7.536640000000000e+05,
-7.864320000000000e+05,-6.946816000000000e+06,1642,307200,
-5.5879354476928711e-09,5.329070518e-15,1768,4,15,15,0*0204eec1
Field

Field Type

Description

1

QZSSIONUTC
Log header
Header

2

a0

Alpha parameter constant term

3

a1

4

Format

Binary Binary
Bytes Offset
H

0

Double

8

H

Alpha parameter 1st order term

Double

8

H+8

a2

Alpha parameter 2nd order term

Double

8

H+16

5

a3

Alpha parameter 3rd order term

Double

8

H+24

6

b0

Beta parameter constant term

Double

8

H+32

7

b1

Beta parameter 1st order term

Double

8

H+40

8

b2

Beta parameter 2nd order term

Double

8

H+48

9

b3

Beta parameter 3rd order term

Double

8

H+56

10

utc wn

UTC reference week number

Ulong

4

H+64

11

tot

Reference time of UTC parameters

Ulong

4

H+68

12

A0

UTC constant term of polynomial

Double

8

H+72

13

A1

UTC 1st order term of polynomial

Double

8

H+80

14

wn lsf

Future week number

Ulong

4

H+88

15

dn

Day number
(the range is 1 to 7 where Sunday=1 and Saturday=7)

Ulong

4

H+92

16

deltat ls

Delta time due to leap seconds

Long

4

H+96

OEM6 Firmware Reference Manual Rev 12

578

Data Logs

Field

Chapter 3

Field Type

Description

17

deltat lsf

Future delta time due to leap seconds

18

Reserved

19

xxxx

32-bit CRC (ASCII and Binary only)

20

[CR][LF]

Sentence terminator (ASCII only)

OEM6 Firmware Reference Manual Rev 12

Format
Long

Binary Binary
Bytes Offset
4

H+100

4

H+104

Ulong

4

H+108

-

-

-

579

Data Logs

Chapter 3

3.2.109 QZSSRAWALMANAC
Raw QZSS almanac data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the undecoded almanac subframes as received from the QZSS satellite.
Message ID:

1345

Log Type:

Asynch

Recommended Input:
log qzssrawalmanaca onchanged
ASCII Example:
#QZSSRAWALMANACA,COM1,0,93.5,SATTIME,1642,153300.000,00480008,64c4,39655;1642,
208896.000,7,
1,8b000031c390c1820e33d007fefe07cae831c5293ebfe15049104a000001,
51,8b000031c613f3336a1fffffffffffffffffffffffffffffffffff000000,
49,8b000031cd90f14e6a7cf3cf1cf1cf3cf3c73cf1cf1cf3cf3cf3cf000002,
50,8b000031ce14f24e6a0cf3cf1df1cfffffffffffffffffffffffff000002,
56,8b000031d511f80ff70003292ef496000006fffffffa4b6a0fe8040f0002,
52,8b000031e692f4a00a0fff83f060f2080180082082082082082002080381,
53,8b000031e717f58082082082082082082082082082082082082082082080*ca4596f9ŀ
The OEM6 family of receivers automatically saves almanacs in their Non-Volatile Memory
(NVM), therefore creating an almanac boot file is not necessary.

Field

Field Type

Description

1

QZSSRAWALMANAC
Log header
header

2

ref week

Almanac reference week number

3

ref secs

4

Format

Binary
Bytes

Binary
Offset

H

0

4

H

Almanac reference time, in milliseconds (binary
GPSec
data) or seconds (ASCII data)

4

H+4

#subframes

Number of subframes to follow

Ulong

4

H+8

5

svid

SV ID (satellite vehicle ID)a

Hex

2

H+12

6

data

Subframe page data

Hex

30

H+14

7

Next subframe offset = H+12+(#subframe x32)

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+12+
(#subframes
x 32)

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Ulong

a. A value between 1 and 32 for the SV ID indicates the PRN of the satellite. Any other values indicate the page ID. SV ID 1
to 5 corresponds to QZSS PRN 193 to 197. Refer to QZSS Interface Specification for more details.

OEM6 Firmware Reference Manual Rev 12

580

Data Logs

Chapter 3

3.2.110 QZSSRAWCNAVMESSAGE
Raw QZSS L2C and L5 CNAV message
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log provides the raw QZSS L2C and L5 CNAV message.
Message ID:

1530

Log Type:

Collection

Recommended Input:
log qzssrawcnavmessage onnew
ASCII Example:
#QZSSRAWCNAVMESSAGEA,COM1,0,66.5,SATTIME,1902,405696.000,00000020,20f7,13677;40
,193,10,8b04a84110edc2a346a97d311c3ff854620220004eba94f1313134f005530056c9da0cc
c2300*1f2abac5
Field

Field Type

Description

1

QZSSRAWCNAVMESSAGE
Log header
header

2

sigchannum

Signal channel providing the bit

3

prn

4

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

QZSS satellite PRN number

Ulong

4

H+4

messageID

CNAV message ID

Ulong

4

H+8

5

data

CNAV raw message data

Hex[38]

38

H+12

6

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+50

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

581

Data Logs

Chapter 3

3.2.111 QZSSRAWEPHEM
QZSS Raw ephemeris information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw binary information for subframes one, two and three from the satellite with the parity
information removed. Each subframe is 240 bits long (10 words - 24 bits each) and the log contains a total
720 bits (90 bytes) of information (240 bits x 3 subframes). This information is preceded by the PRN number
of the satellite from which it originated. This message is not generated unless all 10 words from all 3 frames
have passed parity.
Message ID:

1331

Log Type:

Asynch

Recommended Input:
log qzssrawephema onnew
ASCII Example:
#QZSSRAWEPHEMA,COM1,0,84.5,SATTIME,1642,230580.000,00000008,2f9e,39655;193,
1642,234000,8b00004b0f879aa01c8000000000000000000000f6df3921fe0005fffdbd,
8b00004b1009dfd2bb1ec493a98277e8fd26d924d5062dcae8f5b739210e,
8b00004b108ffe5bc52864ae00591d003b8b02b6bfe13f3affe2afdff1e7*d2bd151e
Field

Field Type

Description

1

QZSSRAWEPHEM
header

Log header

2

prn

Satellite PRN number

3

ref week

4

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Ephemeris reference week number

Ulong

4

H+4

ref secs

Ephemeris reference time (s)

Ulong

4

H+8

5

subframe1

Subframe 1 data

Hex

30

H+12

6

subframe2

Subframe 2 data

Hex

30

H+42

7

subframe3

Subframe 3 data

Hex

30

H+72

8

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+102

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

582

Data Logs

Chapter 3

3.2.112 QZSSRAWSUBFRAME
Raw QZSS subframe data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw QZSS subframe data.
A raw QZSS subframe is 300 bits in total, 10 words of 30 bits each. This includes the parity 6 bits at the end
of each word, for a total of 60 parity bits. Note that in Field #4, the ‘data’ field below, the 60 parity bits are
stripped out and only the raw subframe data remains, for a total of 240 bits. There are two bytes added onto
the end of this 30 byte packed binary array to pad out the entire data structure to 32 bytes in order to maintain
4 byte alignment.
Message ID:

1330

Log Type:

Asynch

Recommended Input:
log qzssrawsubframea onnew
ASCII Example:
#QZSSRAWSUBFRAMEA,COM1,0,85.5,SATTIME,1642,230604.000,00000008,e56b,39655;
193,5,8b00004b11970637984efbf7fd4d0fa10ca49631ace140740a08fe0dfd43,65*6a7b9123
Field

Field Type

Description

1

QZSSRAWSUBFRAME
Log header
header

2

PRN

Satellite PRN number

3

subfr id

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Subframe ID

Ulong

4

H+4

data

Raw subframe data

Hex [30]

32a

H+8

5

chan

Signal channel number that the frame was decoded
Ulong
on

4

H+40

6

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+44

7

[CR][LF]

Sentence terminator

-

-

-

a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment.

OEM6 Firmware Reference Manual Rev 12

583

Data Logs

Chapter 3

3.2.113 RAIMSTATUS
RAIM status
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log provides information on Receiver Autonomous Integrity Monitoring (RAIM) status (refer to the
RAIMMODE command on page 239).
Message ID:

1286

Log Type:

Synch

Recommended Input:
log raimstatusa ontime 1
ASCII Example:
#RAIMSTATUSA,COM1,0,93.5,FINESTEERING,1595,387671.500,00000008,bf2d,5968;
DEFAULT,PASS,NOT_AVAILABLE,0.000,NOT_AVAILABLE,0.000,0*96a129ee
#RAIMSTATUSA,COM1,0,95.5,FINESTEERING,1595,387672.000,00000008,bf2d,5968;
APPROACH,PASS,PASS,17.037,PASS,25.543,0*2a53f2b9
Field

Field Type

Description

Format

Binary
Bytes

-

H

0

Enum

4

H

Enum

4

H+4

4

H+8

1

RAIMSTATUS
Log header
Header

2

RAIM Mode

3

Integrity status Integrity Status (see Table 122, Integrity Status on page 585)

4

HPL status

Horizontal protection level status (see Table 123, Protection
Level Status on page 585)

Enum

5

HPL

Horizontal protection level (m)

Double 8

6

VPL status

Vertical protection level status (see Table 122, Integrity Status
Enum
on page 585)

7

VPL

8
9

10

RAIM mode (refer to Table 52, RAIM Mode Types on
page 240)

Binary
Offset

H+12

4

H+20

Vertical protection level (m)

Double 8

H+24

#SVs

Number of excluded satellites

Ulong

4

H+32

System

Satellite system (see Table 109, Satellite System on page 494) Enum

4

H+36

4

H+40

Satellite ID

In binary logs, the satellite ID field is 4 bytes. The 2 lowest order
bytes, interpreted as a USHORT, are the system identifier. For
instance, the PRN for GPS or the slot for GLONASS. The 2
highest-order bytes are the frequency channel for GLONASS,
interpreted as a SHORT and zero for all other systems.
In ASCII and abbreviated ASCII logs, the satellite ID field is the
system identifier. If the system is GLONASS and the frequency
channel is not zero, then the signed channel is appended to the
system identifier. For example, slot 13, frequency channel -2 is
output as 13-2

OEM6 Firmware Reference Manual Rev 12

Ulong

584

Data Logs

Field

Chapter 3

Field Type

Description

11

Next offset field = H+36+(#SVs * 8)

12

xxxx

32-bit CRC (ASCII and Binary only)

13

[CR][LF]

Sentence terminator (ASCII only)

Format

Binary
Bytes

Ulong

4

Binary
Offset

H+36+
(#SVs*8)

Table 122: Integrity Status
Binary

ASCII

Description

0

NOT_AVAILABLE

RAIM is unavailable because either there is no solution or because the solution
is unique, that is, there is no redundancy

1

PASS

RAIM succeeded. Either there were no bad observations or the bad
observations were successfully removed from the solution

2

FAIL

RAIM detected a failure and was unable to isolate the bad observations
Table 123: Protection Level Status

Binary

ASCII

Description

0

NOT_AVAILABLE

When RAIM is not available for example, after issuing a FRESET command or
when there are not enough satellites tracked to produce the required redundant
observations

1

PASS

Current protection levels are below alert limits, meaning positioning accuracy
requirements are fulfilled
HPL < HAL
VPL < VAL

2

ALERT

Current protection levels are above alert limits, meaning required positioning
accuracy cannot be guaranteed by RAIM algorithm
HPL ≥ HAL
VPL ≥ VAL

OEM6 Firmware Reference Manual Rev 12

585

Data Logs

Chapter 3

3.2.114 RANGE
Satellite range information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The RANGE log contains the channel measurements for the currently tracked satellites. When using this log,
please keep in mind the constraints noted along with the description.
It is important to ensure that the receiver clock has been set. This can be monitored by the bits in the
Receiver Status field of the log header. Large jumps in pseudorange as well as Accumulated Doppler Range
(ADR) occur as the clock is being adjusted. If the ADR measurement is being used in precise phase
processing, it is important not to use the ADR if the "parity known" flag, in the ch-tr-status field, is not set as
there may exist a half (1/2) cycle ambiguity on the measurement. The tracking error estimate of the
pseudorange and carrier phase (ADR) is the thermal noise of the receiver tracking loops only. It does not
account for possible multipath errors or atmospheric delays.
If multiple signals are being tracked for a given PRN, an entry for each signal, with the same PRN, appears in
the RANGE logs. As shown in Table 125, Channel Tracking Status on page 589, these entries can be
differentiated by bits 21-25, which indicate the signal type of the observation.
Message ID:

43

Log Type:

Synch

Recommended Input:
log rangea ontime 30
Abbreviated ASCII Example:
 0x7). Two's complement
should be applied prior to AND, right bit shift computations.

OEM6 Firmware Reference Manual Rev 12

597

Data Logs

Chapter 3
Table 131: Std Dev PSR Scaling
PSR Std Dev Bit Field Value Represented Std Dev (m)
0

0.02

1

0.03

2

0.045

3

0.066

4

0.099

5

0.148

6

0.22

7

0.329

8

0.491

9

0.732

10

1.092

11

1.629

12

2.43

13

3.625

14

5.409

15

>5.409

Table 132: Std Dev ADR Scaling
ADR Std Dev Bit Field Value Represented Std Dev (cycles)
0

0.00391

1

0.00521

2

0.00696

3

0.00929

4

0.01239

5

0.01654

6

0.02208

7

0.02947

8

0.03933

9

0.05249

10

0.07006

11

0.09350

12

0.12480

13

0.16656

14

0.22230

15

>0.22230

OEM6 Firmware Reference Manual Rev 12

598

Data Logs

Chapter 3
Table 133: L1/E1/B1 Scaling
Satellite
System

GPS

GLONASS

SBAS

Galileo

QZSS

LBAND
BDS

OEM6 Firmware Reference Manual Rev 12

Signal Type

L1/E1/B1
Scale Factor

L1CA

1.0

L2Y

154/120

L2C

154/120

L5Q

154/115

L1CA

1.0

L2CA

9/7

L2P

9/7

L1CA

1.0

L5I

154/115

E1

1.0

E5A

154/115

E5B

154/118

AltBOC

154/116.5

L1CA

1.0

L2C

154/120

L5Q

154/115

LBAND

1.0

B1

1.0

B2

1526/1180

599

Data Logs

Chapter 3
Table 134: Signal Type (only in RANGECMP2)
Satellite
System

GPS

GLONASS

SBAS

Galileo

QZSS

LBAND

BDS

OEM6 Firmware Reference Manual Rev 12

Signal Type

Value

L1CA

1

L2Y

4

L2CM

5

L5Q

7

L1CA

1

L2CA

3

L2P

4

L1CA

1

L5I

2

E1C

1

E5AQ

2

E5BQ

3

AltBOCQ

4

L1CA

1

L2CM

3

L5Q

4

LBAND

1

B1D1I

1

B1D2I

2

B2D1I

3

B2D2I

4

600

Data Logs

Chapter 3

3.2.117 RANGEGPSL1
L1 version of the RANGE log
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log is identical to the RANGE log (see page 586) except that it only includes L1 GPS observations.
Message ID:

631

Log Type:

Synch

Recommended Input:
log rangegpsl1a ontime 30
ASCII Example:
#RANGEGPSL1A,COM1,0,57.0,FINESTEERING,1337,404766.000,00000000,5862,1984;
10,
14,0,21773427.400,0.037,-114420590.433332,0.006,-2408.171,49.9,14963.280,
18109c04,
22,0,24822942.668,0.045,-130445851.055756,0.009,-3440.031,48.0,22312.971,
08109c24,
25,0,20831000.299,0.033,-109468139.214586,0.006,1096.876,50.7,7887.840,
08109c44,
1,0,20401022.863,0.032,-107208568.887106,0.006,-429.690,51.1,10791.500,
18109c64,
24,0,23988223.932,0.074,-126058964.619453,0.013,2519.418,43.8,493.550,18109c84,
11,0,22154466.593,0.043,-116423014.826717,0.007,-1661.273,48.4,11020.952,
08109ca4,
5,0,24322401.516,0.067,-127815012.260616,0.012,-1363.596,44.6,6360.282,
18109cc4,
20,0,22294469.347,0.043,-117158267.467388,0.008,2896.813,48.5,4635.968,
08109ce4,
30,0,23267589.649,0.051,-122271969.418761,0.009,822.194,47.0,4542.270,08109d04,
23,0,24975654.673,0.058,-131247903.805678,0.009,3395.097,45.9,406.762,
18109d24*be4b7d70
Since the RANGEGPSL1 log includes only L1 GPS observations, it is smaller in size than the
RANGE log which contains entries for multiple systems and signals. Use the RANGEGPSL1
log when data throughput is limited and you are only interested in GPS L1 range data. For GPS
L1 only models, RANGE and RANGEGPSL1 logs are identical.

OEM6 Firmware Reference Manual Rev 12

601

Data Logs

Field

Chapter 3

Field type

Description

1

RANGEGPSL1
Log header
header

2

# obs

3

PRN

4

Reserved

5

psr

6

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

Ushort

2

H+4

Ushort

2

H+6

Pseudorange measurement (m)

Double 8

H+8

psr std

Pseudorange measurement standard deviation (m)

Float

4

H+16

7

adr

Carrier phase, in cycles (accumulated Doppler range)

Double 8

H+20

8

adr std

Estimated carrier phase standard deviation (cycles)

Float

4

H+28

9

dopp

Instantaneous carrier Doppler frequency (Hz)

Float

4

H+32

10

C/No

Float

4

H+36

11

locktime

Number of seconds of continuous tracking (no cycle
slipping)

Float

4

H+40

12

ch-tr-status

Tracking status (see Table 125, Channel Tracking Status
Ulong
on page 589)

4

H+44

13...

Next PRN offset = H + 4 + (#obs x 44)

14

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4+
(#obs x 44)

15

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Number of L1 observations with information to follow
Satellite PRN number of range measurement
(GPS: 1 to 32)

Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)

OEM6 Firmware Reference Manual Rev 12

602

Data Logs

Chapter 3

3.2.118 RAWALM
Raw GPS Almanac data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the undecoded GPS almanac subframes as received from the satellite. For more
information about Almanac data, refer to An Introduction to GNSS, on our website at www.novatel.com/
support/.
Message ID:

74

Log Type:

Asynch

Recommended Input:
log rawalma onchanged
ASCII Example:
#RAWALMA,COM1,0,56.0,SATTIME,1337,405078.000,00000000,cc1b,1984;1337,589824.000
,43,
3,8b04e4839f35433a5590f5aefd3900a10c9aaa6f40187925e50b9f03003f,
27,8b04e483a1325b9cde9007f2fd5300a10da5562da3adc0966488dd01001a,
4,8b04e483a1b44439979006e2fd4f00a10d15d96b3b021e6c6c5f23feff3c,
28,8b04e483a3b05c5509900b7cfd5800a10cc483e2bfa1d2613003bd050017,
5,8b04e483a43745351c90fcb0fd4500a10d8a800f0328067e5df8b6100031,
57,8b04e483a6337964e036d74017509f38e13112df8dd92d040605eeaaaaaa,
6,8b04e483a6b54633e390fa8bfd3f00a10d4facbc80b322528f62146800ba,
29,8b04e483a8b05d47f7901b20fd5700a10ce02d570ed40a0a2216412400cb,
7,8b04e483a935476dee90fb94fd4300a10d93aba327b7794ae853c02700ba,
.
.
.
1,8b04e483d8b641305a901b9dfd5a00a10ce92f48f1ba0a5dcccb7500003b,
25,8b04e483dab25962259004fcfd4c00a10dc154eee5c555d7a2a5010d000d,
2,8b04e483db37424aa6900720fd4f00a10c5ad89baa4dc1460790b6fc000f,
26,8b04e483dd305a878c901d32fd5b00a10c902eb7f51db6b6ce95c701fff4*83cae97a
The OEM6 family of receivers automatically saves almanacs in their Non-Volatile Memory
(NVM), therefore creating an almanac boot file is not necessary.

Field

Field type

Description

1

RAWALM header Log header

2

ref week

Almanac reference week number

3

ref secs

4
5

Format

Binary
Bytes

Binary Offset

H

0

Ulong

4

H

Almanac reference time (ms)

GPSec

4

H+4

#subframes

Number of subframes to follow

Ulong

4

H+8

svid

SV ID (satellite vehicle ID) a

Ushort

2

H+12

OEM6 Firmware Reference Manual Rev 12

603

Data Logs

Field

Chapter 3

Field type

Description
Subframe page data

Format

Binary
Bytes

Hex

30

H+14

Binary Offset

6

data

7...

Next subframe offset = H+12+(#subframe x 32)

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+12+(#subframes x 32)

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. A value between 1 and 32 for the SV ID indicates the PRN of the satellite. Any other values indicate the page ID. See
section 20.3.3.5.1.1, Data ID and SV ID, of ICD-GPS-200C for more details. To obtain copies of ICD-GPS-200, refer to the
GPS website www.gps.gov.

OEM6 Firmware Reference Manual Rev 12

604

Data Logs

Chapter 3

3.2.119 RAWCNAVFRAME
Raw GPS CNAV frame data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log provides raw frame data from signals which contain the CNAV message (L2C, L5).
The RAWCNAVFRAME log is not output by default. To receive this log, data decoding for L2C
or L5 must be enabled using the DATADECODESIGNAL command (see page 112) for the
specific signal.
Message ID:

1066

Log Type:

Asynch

Recommended Input:
log rawcnavframea onnew
ASCII Example:
#RAWCNAVFRAMEA,COM1,0,63.0,SATTIME,1902,431718.000,00000020,ee56,13677;17,
6,11,8b18b8c892cd499a403d89d3a5bfc05f500a1fff6007dff412e017a3c029ccff5d6001fc9a
70*0dddab32
Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWCNAVFRAME header Log header

2

sigchannum

Signal channel providing the bits

Ulong

4

H

3

PRN

Satellite PRN number

Ulong

4

H+4

4

frameId

frame ID

Ulong

4

H+8

5

data

Raw frame data

Hex[38]

38

H+12

6

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+50

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

605

Data Logs

Chapter 3

3.2.120 RAWEPHEM
Raw GPS ephemeris
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw binary information for subframes one, two and three from the GPS satellite L1 C/A
signal with the parity information removed. Each subframe is 240 bits long (10 words - 24 bits each) and the
log contains a total 720 bits (90 bytes) of information (240 bits x 3 subframes). This information is preceded
by the PRN number of the satellite from which it originated. This message is not generated unless all 10
words from all 3 frames have passed parity.
Ephemeris data whose Time of Ephemeris (TOE) is older than six hours is not shown. Multiple logs are
output, one for each GPS satellite with collected ephemeris information.
Message ID:

41

Log Type:

Asynch

Recommended Input:
log rawephema onnew
ASCII Example:
#RAWEPHEMA,COM1,15,60.5,FINESTEERING,1337,405297.175,00000000,97b7,1984;
3,1337,403184,8b04e4818da44e50007b0d9c05ee664ffbfe695df763626f00001b03c6b3,8b04
e4818e2b63060536608fd8cdaa051803a41261157ea10d2610626f3d,8b04e4818ead0006aa7f7e
f8ffda25c1a69a14881879b9c6ffa79863f9f2*0bb16ac3
.
.
.
#RAWEPHEMA,COM1,0,60.5,SATTIME,1337,405390.000,00000000,97b7,1984;
1,1337,410400,8b04e483f7244e50011d7a6105ee664ffbfe695df9e1643200001200aa92,8b04
e483f7a9e1faab2b16a27c7d41fb5c0304794811f7a10d40b564327e,8b04e483f82c00252f57a7
82001b282027a31c0fba0fc525ffac84e10a06*c5834a5b
A way to use only one receiver and achieve better than 1 metre accuracy is to use precise orbit
and clock files. Three types of GPS ephemeris, clock and earth orientation solutions are
compiled by an elaborate network of GNSS receivers around the world all monitoring the
satellite characteristics. IGS rapid orbit data is processed to produce files that correct the
satellite clock and orbit parameters. Since there is extensive processing involved, these files
are available on a delayed schedule from the US National Geodetic Survey at:
www.ngs.noaa.gov/orbits
Precise ephemeris files are available today to correct GPS data which was collected a few days
ago. All you need is one GNSS receiver and a computer to process on. Replace the ephemeris
data with the precise ephemeris data and post-process to correct range values.

OEM6 Firmware Reference Manual Rev 12

606

Data Logs

Field

Chapter 3

Field type

Description

1

RAWEPHEM
header

Log header

2

PRN

Satellite PRN number

3

ref week

4

Binary
Bytes

Format

Binary
Offset

H

0

Ulong

4

H

Ephemeris reference week number

Ulong

4

H+4

ref secs

Ephemeris reference time (s)

Ulong

4

H+8

5

subframe1

Subframe 1 data

Hex[30]

30

H+12

6

subframe2

Subframe 2 data

Hex[30]

30

H+42

7

subframe3

Subframe 3 data

Hex[30]

30

H+72

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+102

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

607

Data Logs

Chapter 3

3.2.121 RAWGPSSUBFRAME
Raw GPS subframe data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw GPS subframe data.
A raw GPS subframe is 300 bits in total. This includes the parity bits which are interspersed with the raw data
ten times in six bit chunks, for a total of 60 parity bits. Note Field #5, below, has these 60 parity bits stripped
out and only the raw subframe data remains, for a total of 240 bits.
Message ID:

25

Log Type:

Asynch

Recommended Input:
log rawgpssubframea onnew
ASCII Example:
#RAWGPSSUBFRAMEA,COM1,59,62.5,SATTIME,1337,405348.000,00000000,f690,1984;2,22,4
,8b04e483f3b17ee037a3732fe0fc8ccf074303ebdf2f6505f5aaaaaaaaa9,2*41e768e4
...
#RAWGPSSUBFRAMEA,COM1,35,62.5,SATTIME,1337,405576.000,00000000,f690,1984;4,25,2
,8b04e48406a8b9fe8b364d786ee827ff2f062258840ea4a10e20b964327e,4*52d460a7
...
#RAWGPSSUBFRAMEA,COM1,0,62.5,SATTIME,1337,400632.000,00000000,f690,1984;20,9,3,
8b04e4826aadff3557257871000a26fc34a31d7a300bede5ffa3de7e06af,20*55d16a4a
The RAWGPSSUBFRAME log can be used to receive the data bits with the parity bits stripped
out. Alternately, you can use the RAWGPSWORD log to receive the parity bits in addition to the
data bits.

Field

Field type

Description

1

RAWGPSSUBFRAME
Log header
header

2

decode #

Frame decoder number

3

PRN

4

Format

Binary Binary
Bytes Offset
H

0

Long

4

H

Satellite PRN number

Ulong

4

H+4

subframe ID

Subframe ID

Ulong

4

H+8

5

data

Raw subframe data

Hex[30] 32a

6

chan

Signal channel number that the frame was decoded on Ulong

4

H+44

7

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+48

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

H+12

a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment.

OEM6 Firmware Reference Manual Rev 12

608

Data Logs

Chapter 3

3.2.122 RAWGPSWORD
Raw GPS navigation word
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This message contains the framed GPS raw navigation words. Each log contains a new 30 bit navigation
word (in the least significant 30 bits), plus the last 2 bits of the previous word (in the most significant 2 bits).
The 30 bit navigation word contains 24 bits of data plus 6 bits of parity. The GPS reference time stamp in the
log header is the time the first bit of the 30 bit navigation word was received. Only navigation data that has
passed parity checking appears in this log. One log appears for each PRN being tracked every 0.6 seconds if
logged ONNEW or ONCHANGED.
Message ID:

407

Log Type:

Asynch

Recommended Input:
log rawgpsworda onnew
ASCII Example:
#RAWGPSWORDA,COM1,0,58.5,FINESTEERING,1337,405704.473,00000000,9b16,1984;14,
7ff9f5dc*8e7b8721
...
#RAWGPSWORDA,COM1,0,57.0,FINESTEERING,1337,405783.068,00000000,9b16,1984;1,
93feff8a*6dd62c81
...
#RAWGPSWORDA,COM1,0,55.5,FINESTEERING,1337,405784.882,00000000,9b16,1984;5,
fffff8ce*a948b4de
The RAWGPSWORD log can be used to receive the parity bits in addition to the data bits.
Alternately, you can use the RAWGPSSUBFRAME log which already has the parity bits
stripped out

Field

Field type

Description

1

RAWGPSWORD header

Log header

2

PRN

Satellite PRN number

3

nav word

4
5

Binary
Bytes

Format

Binary
Offset

H

0

Ulong

4

H

Raw navigation word

Hex[4]

4

H+4

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

609

Data Logs

Chapter 3

3.2.123 RAWLBANDFRAME
Raw L-Band frame data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw L-Band frame data. The RAWLBANDPACKET (page 612) is output for OmniSTAR
and TerraStar tracking.
In addition to a NovAtel receiver with L-Band capability, use of a DGPS service is required.
Refer to the OEM6 Family Installation and Operation User Manual (OM-20000128) available at
www.novatel.com/support/.
Message ID:

732

Log Type:

Asynch

Recommended Input:
log rawlbandframea onnew
ASCII Example:
#RAWLBANDFRAMEA,COM2,0,73.5,FINESTEERING,1295,152802.068,00000040,4f80,34461;9,
1a1e,600,f6,00,62,35,c8,cd,34,e7,6a,a1,37,44,8f,a8,24,71,90,d0,5f,94,2d,94,3c,7
4,9c,f0,12,a3,4c,a7,30,aa,b6,2e,27,dd,dc,24,ba,d3,76,8d,76,d9,e7,83,1a,c8,81,b0
,62,1c,69,88,23,70,2a,06,c0,fc,f8,80,2c,72,f1,2e,6b,c2,5b,ec,03,70,d3,f3,fe,ef,
37,3d,17,37,1b,cf,be,af,d1,02,15,96,d1,f6,58,56,ac,bd,a3,11,12,d0,3d,11,27,8a,8
7,28,0c,0f,52,70,b3,2f,0c,0c,62,2d,b8,69,6c,52,10,df,7d,bb,08,d6,ca,a9,5e,77,66
,96,c2,a0,63,3b,98,34,bc,d5,47,64,e0,00,37,10,4a,f7,c1,b6,83,8f,06,94,21,ff,b4,
27,15,b0,60,40,02,b4,af,9c,9d,c2,d4,ea,95,68,86,0f,0a,9d,2d,36,52,68,65,b8,a2,0
b,00,21,80,64,8a,72,ff,59,b7,79,b9,49,fd,f5,3c,48,1c,2f,77,f1,b2,9e,58,0a,81,05
,1f,00,7b,00,1e,68,c9,a3,12,56,b8,2a,32,df,d9,ea,03,9b,16,c6,17,2f,33,b3,5f,c4,
f9,d2,97,75,64,06,52,a1,b2,3a,4b,69,e7,eb,0f,97,d3,e6,bf,de,af,37,c6,10,13,9b,d
c,c9,e3,22,80,78,3f,78,90,d5,9f,d3,5f,af,1f,7a,75,ef,77,8e,de,ac,00,32,2e,79,fb
,3f,65,f3,4f,28,77,b4,6d,f2,6f,31,24,b2,40,76,37,27,bc,95,33,15,01,76,d5,f1,c4,
75,16,e6,c6,ab,f2,fe,34,d9,c3,55,85,61,49,e6,a4,4e,8b,2a,60,57,8a,e5,77,02,fc,9
c,7d,d4,40,4c,1d,11,3c,9b,8e,c3,73,d3,3c,0d,ff,18.
.
.
,7a,21,05,cb,12,f6,dd,c3,df,69,62,f5,70*3791693b
The data signal is structured to perform well in difficult or foliated conditions, so the service is
available consistently more and has a higher degree of service reliability.

OEM6 Firmware Reference Manual Rev 12

610

Data Logs

Field

Chapter 3

Field type

Description

1

RAWLBANDFRAME
header

Log header

2

Service ID

L-Band Beam Service ID

3

Reserved

4

Format

Binary
Bytes

Binary
Offset

H

0

Ushort

2

H

Reserved bits

Ushort

2

H+2

# of Records

# of Records to Follow

Ulong

4

5

data

Raw L-Band frame data

Hex[512]

1

H+4

6

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+516

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

611

Data Logs

Chapter 3

3.2.124 RAWLBANDPACKET
Raw L-Band data packet
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw L-Band packet data. The RAWLBANDPACKET log is only output for OmniSTAR or
TerraStar tracking.
Message ID:

733

Log Type:

Asynch

Recommended Input:
log rawlbandpacketa onnew
ASCII Example:
#RAWLBANDPACKETA,COM2,0,77.0,FINESTEERING,1295,238642.610,01000040,c5b1,34461;
9,07,de,3a,f9,df,30,7b,0d,cb*7e5205a8
Field

Field type

Description

1

RAWLBANDPACKET
header

Log header

2

#recs

Number of records to follow

3

data

4
5

Binary
Bytes

Format

Binary
Offset

H

0

Ulong

4

H

Raw L-Band data packet

Hex[512]

1

H+4

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+#recs

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

612

Data Logs

Chapter 3

3.2.125 RAWSBASFRAME
Raw SBAS frame data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the raw SBAS frame data of 226 bits (8-bit preamble, 6-bit message type and 212 bits of
data but without a 24-bit CRC). Only frame data with a valid preamble and CRC are reported.
Message ID:

973

Log Type:

Asynch

Recommended Input:
log rawsbasframea onnew
ASCII Example:
#RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341534.000,00000000,58e4,38637;32,133,
4,c6115ffc00000c009ffc07004c089ffdffdffdffdfff957bbb6bffffc0,32*5afc5f95
#RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341535.000,00000000,58e4,38637;32,133,
2,53084007ff9fffffc03002c0000f0009ffc004005ffd6b961e39b9fb80,32*db5dfa62
#RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341535.000,00000000,58e4,38637;35,135,
2,53084007ff9fffffc03002c0000f0009ffc004005ffd6b961e39b9fb80,35*b72ff2a0
...
#RAWSBASFRAMEA,COM1,0,90.0,SATTIME,1610,341539.000,00000000,58e4,38637;34,138,
3,9a0c4000009ffc009ffdffc007fb9ffdffc0000040315b9bb96fb95680,34*cb050361
The RAWSBASFRAME log output contains all the raw data required for an application to
compute its own SBAS correction parameters.

Field

Field type

Description

1

RAWSBASFRAME
Log header
header

2

decode #

Frame decoder number

3

PRN

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

SBAS satellite PRN number

Ulong

4

H+4

WAASmsg id

SBAS frame ID

Ulong

4

H+8

5

data

Raw SBAS frame data. There are 226 bits of data and
Hex[29]
6 bits of padding

32a

H+12

6

chan

Signal channel number that the frame was decoded on Ulong

4

H+44

7

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+48

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

OEM6 Firmware Reference Manual Rev 12

613

Data Logs

Chapter 3

3.2.126 REFSTATION
Base station position and health
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the ECEF Cartesian position of the base station as received through the RTCM, RTCMV3,
RTCA or CMR message. It also features a time tag, the health status of the base station and the station ID.
This information is set at the base station using the FIX command (see page 148) and the DGPSTXID
command (see page 121). See Figure 94, The WGS84 ECEF Coordinate System on page 409 for a
definition of the ECEF coordinates.
The base station health, Field #6, may be one of 8 values (0 to 7). Values 0 through 5 indicate the scale factor
that is multiplied with the satellite UDRE one-sigma differential error values. Below are values 0 to 5 and their
corresponding UDRE scale factors:
0: 1 (Health OK)

0.75

2: 0.5

3: 0.3

4: 0.2

5: 0.1

The base station health field only applies to RTCM base stations. A value of 6 means the base station
transmission is not monitored and a value of 7 means that the base station is not working.
Message ID:

175

Log Type:

Asynch

Recommended Input:
log refstationa onchanged
ASCII Example:
#REFSTATIONA,COM1,0,66.5,FINESTEERING,1364,490401.124,80000000,4e46,2310;
00000000,-1634532.443,-3664608.907,4942482.713,0,RTCA,"AAAA"*1e2a0508
Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

REFSTATION
Log header
header

2

status

Status of the base station information (see Table 135, Base
Station Status on page 615)

Ulong

4

H

3

x

ECEF X value (m)

Double

8

H+4

4

y

ECEF Y value (m)

Double

8

H+12

5

z

ECEF Z value (m)

Double

8

H+20

6

health

Base station health, see the 2nd paragraph on the previous
page

Ulong

4

H+28

7

stn type

Station type (see Table 136, Station Type on page 615)

Enum

4

H+32

8

stn ID

Base station ID

Char[5]

8a

H+36

9

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+44

10

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

OEM6 Firmware Reference Manual Rev 12

614

Data Logs

Chapter 3
Table 135: Base Station Status
Bit #
0

Mask

Description

0x00000001

Validity of the base station

Bit = 0
Valid

Bit = 1
Invalid

Table 136: Station Type
Base Station Type
Binary

ASCII

Description

0

NONE

Base station is not used

1

RTCM

Base station is RTCM

2

RTCA

Base station is RTCA

3

CMR

Base station is CMR

4

RTCMV3

Base station is RTCMV3

The REFSTATION log can be used for checking the operational status of a remotely located
base station. You can verify that the base station is operating properly without traveling to it.
This is especially useful for RTK work on long baselines.

OEM6 Firmware Reference Manual Rev 12

615

Data Logs

Chapter 3

3.2.127 REFSTATIONINFO
Base Station position information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This is an extended version of the REFSTATION log with latitude, longitude and ellipsoidal height of the base
station in WGS84. In addition to the base station position, ARP height, antenna model name and antenna
serial number are available if provided by the base station only through RTCMV3.
Message ID:

1325

Log Type:

Asynch

Recommended Input:
log refstationinfoa onchanged
ARP, Antenna model and Antenna serial number are set at the base station using
BASEANTENNAMODEL command (see page 81).
For example: baseantennamodel 702GG NVH05410007 1 user 0 0 1234
ASCII Example:
#REFSTATIONINFOA,USB1,0,89.5,EXACT,0,0.000,00000040,d38f,6782;51.116375174,
-114.038254922,1048.502830628,WGS84,1.234,0,RTCMV3,"0","702GG","NVH05410007"
*bedf8ece
Field

Field type

Description

Format

Binary Binary
Bytes Offset

1

REFSTATIONINFO
Log header
header

H

0

2

latitude

Latitude (degrees)

Double

8

H

3

longitude

Longitude (degrees)

Double

8

H+8

4

height

Ellipsoidal Height (m)

Double

8

H+16

5

datum

Datum ID number (WGS84) (refer to Table 26, Datum
Transformation Parameters on page 116)

Enum

4

H+24

6

ARP height

Base Antenna ARP (m)

Float

4

H+28

7

health

Base Station Health, see Table 135, Base Station Status
Ulong
on page 615

4

H+32

8

Ref Stn Type

Base Station Type, see (Table 136, Station Type on
page 615)

Enum

4

H+36

9

stn ID

Base Station ID

Char[5]

8a

H+40

10

Ant Model

Base Antenna Model Name

Char[32] 32

H+48

11

Ant Serial

Base Antenna Serial Number

Char[32] 32

H+80

12

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+112

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

OEM6 Firmware Reference Manual Rev 12

616

Data Logs

Chapter 3

3.2.128 ROVERPOS
Position using ALIGN
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

ALIGN generates distance and bearing information between a master and rover receiver. This log outputs the
position information of the rover when using the ALIGN feature. This log can only be output from a Y ALIGN
model and can be output at both Master and Rover ends.
You must have an ALIGN capable receiver to use this log.

1. ALIGN is useful for obtaining the relative directional heading of a vessel/body, separation
heading between two vessels/bodies, or heading information with moving base and pointing
applications.
2. The log can be output at the Y model Rover only if it is receiving the RTCAREFEXT
message from the Master. The log can be output at any Master if the Master is receiving
HEADINGEXTB from the Rover. Refer to the NovAtel application note APN-048 for details
on HEADINGEXT (available at www.novatel.com/support/).
3. ROVERPOS is dependent on the output frequency of the RTCAREFEXT message from the
master to the rover.
4. On OEM617D and FlexPak6D receivers, the ROVERPOS log is not available for the
secondary antenna input.
Message ID:

1052

Log Type:

Asynch

Recommended Input:
log roverposa onchanged
ASCII Example:
#ROVERPOSA,COM1,0,21.5,FINESTEERING,1544,340322.000,00000008,7453,4655;
SOL_COMPUTED,NARROW_INT,51.11605565964,-114.03854655975,1055.8559,-16.9000,
WGS84,0.0130,0.0122,0.0206,"RRRR",0.0,0.0,13,12,12,11,0,0,0,0*635b3a1c
Asynchronous logs, such as ROVERPOS, should only be logged ONCHANGED or ONNEW
otherwise the most current data is not output when it is available. This is especially true of the
ONTIME trigger, which may cause inaccurate time tags to result.

Field

Field Type

Description

1

ROVERPOS
Log Header
header

2

sol stat

Solution Status, see Table 83, Solution Status on page 395

OEM6 Firmware Reference Manual Rev 12

Format

Enum

Binary Binary
Bytes Offset
H

0

4

H

617

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary Binary
Bytes Offset

3

pos type

Position Type see Table 84, Position or Velocity Type on
page 396

Enum

4

H+4

4

lat

Rover WGS84 Latitude in degrees

Double

8

H+8

5

long

Rover WGS84 Longitude in degrees

Double

8

H+16

6

hgt

Rover MSL Height in metres

Double

8

H+24

7

undulation

Undulation in metres

Float

4

H+32

8

datum id#

WGS84 (default) (refer to Table 26, Datum Transformation
Parameters on page 116)

Enum

4

H+36

9

lat σ

Latitude Std in metres

Float

4

H+40

10

long σ

Longitude Std in metres

Float

4

H+44

11

hgt σ

Height Std in metres

Float

4

H+48

12

stn id

Rover ID (default = “RRRR”)

Char[4]

4

H+52

13

Reserved

Float

4

H+56

14

Reserved

Float

4

H+60

15

#SVs

Number of satellite tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite in solution

Uchar

1

H+65

17

#obs

Number of satellites above elevation mask angle

Uchar

1

H+66

18

#multi

Number of satellites above the mask angle with L2, B2

Uchar

1

H+67

Hex

1

H+68

Uchar

1

H+69

Uchar

1

H+70

Uchar

1

H+71

19
20
21

Reserved

22
23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

1

H+72

24

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

618

Data Logs

Chapter 3

3.2.129 RTCA Standard Logs
OEM Platform:
RTCA1
Message ID:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6
Differential GPS Corrections
10

RTCAEPHEM Ephemeris and Time Information
Message ID: 347
RTCAOBS
Message ID:

Base Station Observations
6

RTCAOBS2
Message ID:

Base Station Observations
805

RTCAOBS3
Base Station Observation for ALIGN
MESSAGE ID: 1340
RTCAREF
Message ID:

Base Station Parameters
11

RTCAREFEXT Extended Base Station Parameters for ALIGN
Message ID: 1049
1. The above messages can be logged with an A or B suffix for an ASCII or binary output with
a NovAtel header followed by Hex or binary raw data respectively.
2. When you plan to send both RTCAOBS2 and RTCAOBS messages, ensure you send the
RTCAOBS2 message before RTCAOBS.
The RTCA (Radio Technical Commission for Aviation Services) Standard is being designed to support
Differential Global Navigation Satellite System (DGNSS) Special Category I (SCAT-I) precision instrument
approaches. The RTCA Standard is in a preliminary state. Described below is NovAtel’s current support for
this standard. It is based on “Minimum Aviation System Performance Standards DGNSS Instrument
Approach System: Special Category I (SCAT-I)”.1
NovAtel has defined six proprietary RTCA Standard Type 7 binary format messages, RTCAOBS,
RTCAOBS2, RTCAREF, RTCAEPHEM, RTCAREFEXT and RTCAOBS3 for base station transmissions.
RTCAOBS3 and RTCAREFEXT are defined specifically for use in ALIGN. These can be used with either
single- or dual-frequency NovAtel receivers. The RTCA message format out performs the RTCM format in
the following ways, among others:
•

a more efficient data structure (lower overhead)

•

better error detection

•

allowance for a longer message, if necessary

RTCAREF and RTCAOBS, respectively, correspond to the RTCM Type 3 and Type 59 logs used in singlefrequency only measurements. Both are NovAtel proprietary RTCA Standard Type 7 messages with an ‘N’
primary sub-label.

1. For further information about RTCA Standard messages, refer to:
Minimum Aviation System Performance Standards - DGNSS Instrument Approach System: Special Category I
(SCAT-I), Document No. RTCA/DO-217 (April 19,1995); Appx A, Pg 21

OEM6 Firmware Reference Manual Rev 12

619

Data Logs

Chapter 3

Refer to the Receiving and Transmitting Corrections section in the OEM6 Family Installation and Operation
User Manual (OM-20000128) for more information about using these message formats for differential
operation.
Input Example
INTERFACEMODE com2 none RTCA
FIX position 51.1136 -114.0435 1059.4
LOG com2 rtcaobs2 ontime 1
LOG com2 rtcaobs ontime 1
LOG com2 rtcaref ontime 10
LOG com2 rtca1 ontime 5
LOG com2 rtcaephem ontime 10 1
LOG com2 rtcarefext ontime 1
LOG com2 rtcaobs3 ontime 1

OEM6 Firmware Reference Manual Rev 12

620

Data Logs

Chapter 3

3.2.130 RTCM Standard Logs
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

RTCM1
Message ID:

Differential GPS Corrections
107

RTCM3
Message ID:

Base Station parameters
117

RTCM9
Message ID:

Partial Differential GPS Corrections
275

RTCM15
Message ID:

Ionospheric Corrections
307

RTCM16
Message ID:

Special Message
129

RTCM16T
Message ID:

Special Text Message, see also page 290
131

RTCM1819
Message ID:

Raw Measurements
260

RTCM2021
Message ID:

Measurement Corrections
374

RTCM22
Message ID:

Extended Base Station
118

RTCM23
Message ID:

Antenna Type Definition
665

RTCM24
Message ID:

Antenna Reference Point (ARP)
667

RTCM31
Message ID:

Differential GLONASS
864

RTCM32
Message ID:

GLONASS Base parameters
873

RTCM36
Message ID:

Special Extended Message
875

RTCM36T
Message ID:

Special Extended Message, see also page 291
877

RTCM59
Message ID:

Type 59N-0 Proprietary Differential
116

RTCM59GLO
Message ID:

Proprietary GLONASS Differential
903

RTCMOMNI1
Message ID:

RTCM1 from OmniSTAR VBS
957

1. The RTCM messages can be logged with an A or B suffix for an ASCII or binary output with
a NovAtel header followed by Hex or binary raw data respectively.
2. Combinations of integer offsets and fractional offsets are not supported for RTCM logs. See
also the LOG command on page 192 for more details on offsets.

OEM6 Firmware Reference Manual Rev 12

621

Data Logs

Chapter 3

The Radio Technical Commission for Maritime Services (RTCM) was established to facilitate the
establishment of various radio navigation standards, which includes recommended GNSS differential
standard formats. Refer to the Receiving and Transmitting Corrections section in the OEM6 Family
Installation and Operation User Manual (OM-200000128) for more information about using these message
formats for differential operation.
The standards recommended by the RTCM Special Committee 104, Differential GPS Service (RTCM SC104,Washington, D.C.), have been adopted by NovAtel for implementation into the receiver. Because the
receiver is capable of utilizing RTCM formats, it can easily be integrated into positioning systems around the
globe.
As it is beyond the scope of this manual to provide in-depth descriptions of the RTCM data formats, it is
recommended that anyone requiring explicit descriptions should obtain a copy of the published RTCM
specifications.
RTCM SC-104 Type 3 and 59 messages can be used for base station transmissions in differential systems.
However, since these messages do not include information about the L2 component of the GPS signal, they
cannot be used with RT-2 positioning. Regardless of whether single or dual-frequency receivers are used,
the RT-20 positioning algorithm is used. This is for a system in which both the base and rover stations utilize
NovAtel receivers.
Note that the error detection capability of an RTCM format message is less than that of an RTCA-format
message. The communications equipment used may have an error detection capability of its own to
supplement the RTCM message which induces higher overhead. Consult the radio vendor’s documentation
for further information.
If RTCM format messaging is being used, the optional station id field that is entered using the DGPSTXID
command (see page 121) can be any number within the range of 0 - 1023 (for example, 119). The
representation in the log message is identical to what was entered.
The NovAtel logs which implement the RTCM Standard Format for Type 1, 3, 9, 16, 18, 19, 22, 23, 24, 31, 32
and 36 messages are known as the RTCM1, RTCM3, RTCM9, RTCM16, RTCM1819, RTCM22, RTCM23,
RTCM24, RTCM31, RTCM32 and RTCM36 logs, respectively, while Type 59N-0 messages are listed in the
RTCM59 log.
All receiver RTC, standard format logs adhere to the structure recommended by RTCM SC-104. Thus, all
RTCM message are composed of 30 bit words. Each word contains 24 data bits and 6 parity bits. All RTCM
messages contain a 2 word header followed by 0 to 31 data words for a maximum of 33 words (990 bits) per
message.
Message Frame Header

Word 1

Word 2

OEM6 Firmware Reference Manual Rev 12

Data

Bits

Message frame preamble for synchronization

8

Frame/message type ID

6

Base station ID

10

Parity

6

Modified z-count (time tag)

13

Sequence number

3

Length of message frame

5

Base health

3

Parity

6

622

Data Logs

Chapter 3

Version 3.0, also developed by the RTCM SC-104, consists primarily of messages designed to support RealTime Kinematic (RTK) operations. It provides messages that support GPS and GLONASS RTK operations,
including code and carrier phase observables, antenna parameters, and ancillary system parameters.
Version 3.1 adds RTCM messages containing transformation data and information about Coordinate
Reference Systems.1
The remainder of this section provides further information concerning receiver commands and logs that
utilize the RTCM data formats.
Example Input:
interfacemode com2 none RTCM
fix position 51.1136 -114.0435 1059.4
log com2 rtcm3 ontime 10
log com2 rtcm22 ontime 10 1
log com2 rtcm1819 ontime 1
log com2 rtcm31 ontime 2
log com2 rtcm32 ontime 2
log com2 rtcm1 ontime 5

OmniSTAR Local Wide Area Corrections
RTCM Type 1 messages are generated from OmniSTAR Virtual Base Station (VBS) corrections.
The positioning performance using OmniSTAR local wide area corrections meets the standard OmniSTAR
VBS code differential performance specifications.
Unless otherwise noted, values in the RTCM Type 1 messages are unchanged from what is provided by the
VBS library (for example, RRC, UDRE, station ID) apart from necessary unit scaling. An RTCM1 message is
generated and output each time the VBS library provides updated corrections (about every 6 s). The receiver
no longer outputs corrections when the L-Band signal is lost and the VBS library stops generating
corrections. The output is for the same set of satellites provided by the VBS library (above 5° elevation at the
current position).
Enable the output of OmniSTAR VBS corrections in RTCM messages by using the following commands:
INTERFACEMODE COM2 NOVATEL RTCM OFF
ASSIGNLBAND OMNISTAR   or ASSIGNLBAND OMNISTARAUTO
PSRDIFFSOURCE OMNISTAR
lOG COM2 RTCMOMNI1 ONCHANGED
The RTCMOMNI1 log is asynchronous.
The OmniSTAR RTCM model outputs RTCM corrections at a rate of up to 0.2 Hz. This new model does not
include position or raw measurement output.

1. For further information about RTCM SC-104 messages, refer to:
RTCM Recommended Standards for Differential GNSS (Global Navigation Satellite Systems) Service, Version
3.0 and Version 3.1 at http://www.rtcm.org/overview.php.

OEM6 Firmware Reference Manual Rev 12

623

Data Logs

Chapter 3

3.2.131 RTCMV3 Standard Logs
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

RTCM1001
Message ID:

L1-Only GPS RTK Observables
772

RTCM1002
Message ID:

Extended L1-Only GPS RTK Observables
774

RTCM1003
Message ID:

L1 And L2 GPS RTK Observables
776

RTCM1004
Message ID:

Extended L1 and L2 GPS RTK Observables
770

RTCM1005
Message ID:

Stationary RTK Base Station Antenna Reference Point (ARP)
765

RTCM1006
Message ID:

Stationary RTK Base Station ARP with Antenna Height
768

RTCM1007
Message ID:

Extended Antenna Descriptor and Setup Information
852

RTCM1008
Message ID:

Extended Antenna Reference Station Description and Serial Number
854

RTCM1009
Message ID:

GLONASS L1-Only RTK
885

RTCM1010
Message ID:

Extended GLONASS L1-Only RTK
887

RTCM1011
Message ID:

GLONASS L1/L2 RTK
889

RTCM1012
Message ID:

Extended GLONASS L1/L2 RTK
891

RTCM1019
Message ID:

GPS Ephemerides
893

RTCM1020
Message ID:

GLONASS Ephemerides
895

RTCM1033
Message ID:

Receiver and antenna descriptors
1097

RTCM1071
Message ID:

MSM1, GPS Code Measurements
1472

RTCM1072
Message ID:

MSM2, GPS Phase Measurements
1473

RTCM1073
Message ID:

MSM3, GPS Code and Phase Measurements
1474

RTCM1074
Message ID:

MSM4, GPS Code, Phase and CNR Measurements
1475

RTCM1075
Message ID:

MSM5, GPS Code, Phase, CNR and Doppler Measurements
1476

OEM6 Firmware Reference Manual Rev 12

624

Data Logs

Chapter 3

RTCM1076
Message ID:

MSM6, Extended GPS Code, Phase and CNR Measurements
1477

RTCM1077
Message ID:

MSM7, Extended GPS Code, Phase, CNR and Doppler Measurements
1478

RTCM1081
Message ID:

MSM1, GLONASS Code Measurements
1479

RTCM1082
Message ID:

MSM2, GLONASS Phase Measurements
1480

RTCM1083
Message ID:

MSM3, GLONASS Code and Phase Measurements
1481

RTCM1084
Message ID:

MSM4, GLONASS Code, Phase and CNR Measurements
1482

RTCM1085
Message ID:

MSM5, GLONASS Code, Phase, CNR and Doppler Measurements
1483

RTCM1086
Message ID:

MSM6, Extended GLONASS Code, Phase and CNR Measurements
1484

RTCM1087
Message ID:

MSM7, Extended GLONASS Code, Phase, CNR and Doppler Measurements
1485

RTCM1091
Message ID:

MSM1, Galileo Code Measurements
1486

RTCM1092
Message ID:

MSM2, Galileo Phase Measurements
1487

RTCM1093
Message ID:

MSM3, Galileo Code and Phase Measurements
1488

RTCM1094
Message ID:

MSM4, Galileo Code, Phase and CNR Measurements
1489

RTCM1095
Message ID:

MSM5, Galileo Code, Phase, CNR and Doppler Measurements
1490

RTCM1096
Message ID:

MSM6, Extended Galileo Code, Phase and CNR Measurements
1491

RTCM1097
Message ID:

MSM7, Extended Galileo Code, Phase, CNR and Doppler Measurements
1492

RTCM1111
Message ID:

MSM1, QZSS Code Measurements
1648

RTCM1112
Message ID:

MSM2, QZSS Phase Measurements
1649

RTCM1113
Message ID:

MSM3, QZSS Code and Phase Measurements
1650

RTCM1114
Message ID:

MSM4, QZSS Code, Phase and CNR Measurements
1651

RTCM1115
Message ID:

MSM5, QZSS Code, Phase, CNR and Doppler Measurements
1652

RTCM1116
Message ID:

MSM6, Extended QZSS Code, Phase and CNR Measurements
1653

OEM6 Firmware Reference Manual Rev 12

625

Data Logs

Chapter 3

RTCM1117
Message ID:

MSM7, Extended QZSS Code, Phase, CNR and Doppler Measurements
1654

RTCM1121
Message ID:

MSM1, BeiDou Code Measurements
1592

RTCM1122
Message ID:

MSM2, BeiDou Phase Measurements
1593

RTCM1123
Message ID:

MSM3, BeiDou Code and Phase Measurements
1594

RTCM1124
Message ID:

MSM4, BeiDou Code, Phase and CNR Measurements
1595

RTCM1125
Message ID:

MSM5, BeiDou Code, Phase, CNR and Doppler Measurements
1596

RTCM1126
Message ID:

MSM6, Extended BeiDou Code, Phase and CNR Measurements
1597

RTCM1127
Message ID:

MSM7, Extended BeiDou Code, Phase, CNR and Doppler Measurements
1598

1. At the base station, choose to send either an RTCM1005 or RTCM1006 message to the
rover station. Then select one of the observable messages (RTCM1001, RTCM1002,
RTCM1003 or RTCM1004) to send from the base.
2. RTCM1007 and RTCM1008 data is set using the BASEANTENNAMODEL command (see
page 81). If you have set a base station ID, it is detected and set. Other values are also
taken from a previously entered BASEANTENNAMODEL command.
3. In order to set up logging of RTCM1007 or RTCM1008 data, it is recommended to first use
the INTERFACEMODE command to set the interface mode of the port transmitting RTCMV3
messages to RTCMV3, see page 176. Providing the base has a fixed position (see the FIX
command on page 148) or is configured as a moving base station (refer to the
MOVINGBASESTATION command on page 206) and its BASEANTENNAMODEL command
set, you can log out RTCM1007 messages.
4. The RTCM messages can be logged with an A or B suffix for an ASCII or binary output with
a NovAtel header followed by Hex or binary raw data respectively.
RTCM SC-104 is a more efficient alternative to the documents entitled "RTCM Recommended Standards for
Differential NAVSTAR GPS Service, Version 2.x”. Version 3.0, consists primarily of messages designed to
support RTK operations. The reason for this emphasis is that RTK operation involves broadcasting a lot of
information and thus benefits the most from a more efficient data format.
The RTCM SC-104 standards have been adopted by NovAtel for implementation into the receiver. The
receiver can easily be integrated into positioning systems around the globe because it is capable of utilizing
RTCM Version 3.0 formats.
The initial Version 3.0 document describes messages and techniques for supporting GPS. The format
accommodates modifications to these systems (for example, new signals) and to new satellite systems that
are under development. In addition, augmentation systems that utilize geostationary satellites, with
transponders operating in the same frequency bands, are now in the implementation stages. Generically,
they are called Satellite-Based Augmentation Systems (SBAS) and are designed to be interoperable (for
example WAAS, EGNOS, MSAS).

OEM6 Firmware Reference Manual Rev 12

626

Data Logs

Chapter 3

Message types contained in the current Version 3.0 standard have been structured in different groups.
Transmit at least one message type from each of Groups 1 to 3:
Group 1 - Observations:
RTCM1001
RTCM1002
RTCM1003
RTCM1004
RTCM1009
RTCM1010
RTCM1011
RTCM1012

L1-Only GPS RTK
Extended L1 Only GPS RTK
L1 And L2 GPS RTK
Extended L1and L2 GPS RTK
L1-Only GLONASS RTK
Extended L1 Only GLONASS RTK
L1/L2 GLONASS RTK
Extended L1/L2 GLONASS RTK

Group 2 - Base Station Coordinates:
RTCM1005 RTK Base Antenna Reference Point (ARP)
RTCM1006 RTK Base ARP with Antenna Height
Group 3 - Antenna Description:
RTCM1007 Extended Antenna Descriptor and Setup Information
RTCM1008 Extended Antenna Reference Station Description and Serial Number
Group 4 - Auxiliary Operation Information:
RTCM1019 GPS Ephemerides
RTCM1020 GLONASS Ephemerides
RTCM1033 Receiver and Antenna Descriptors
Example Input:
interfacemode com2 none RTCMV3
fix position 51.1136 -114.0435 1059.4
baseantennamodel 702 NVH05410007 1 user
log com2 rtcm1005 ontime 10
log com2 rtcm1002 ontime 5
log com2 rtcm1007 ontime 10

RTCM1001-RTCM1004 GPS RTK Observables
RTCM1001, RTCM1002, RTCM1003 and RTCM1004 are GPS RTK messages, which are based on raw
data. From this data, valid RINEX files can be obtained. As a result, this set of messages offers a high level of
interoperability and compatibility with standard surveying practices. Refer also to the NovAtel PC Utilities
manual on the CD with your product for details on the logs that Convert4 converts to RINEX.
The Type 1001 Message supports single-frequency RTK operation. It does not include an indication of the
satellite Carrier-to-Noise (C/No) as measured by the base station.
The Type 1002 Message supports single-frequency RTK operation and includes an indication of the satellite
C/No as measured by the base station. Since the C/No does not usually change from measurement to
measurement, this message type can be mixed with the Type 1001 and is used primarily when a satellite C/
No changes, thus saving broadcast link throughput.

OEM6 Firmware Reference Manual Rev 12

627

Data Logs

Chapter 3

The Type 1003 Message supports dual-frequency RTK operation, but does not include an indication of the
satellite C/No as measured by the base station.
The Type 1004 Message supports dual-frequency RTK operation, and includes an indication of the satellite
C/No as measured by the base station. Since the C/No does not usually change from measurement to
measurement, this message type can be mixed with the Type 1003 and is used only when a satellite C/No
changes, thus saving broadcast link throughput.

RTCM1005 and RTCM1006 RTK Base Antenna Reference Point (ARP)
Message Type 1005 provides the Earth-Centered, Earth-Fixed (ECEF) coordinates of the ARP for a
stationary base station. No antenna height is provided.
Message Type 1006 provides all the same information as Message Type 1005 and also provides the height
of the ARP.
These messages are designed for GPS operation and are equally applicable to future satellite systems.
System identification bits are reserved for them.
Message Types 1005 and 1006 avoid any phase center problems by utilizing the ARP, which is used
throughout the International GPS Service (IGS). They contain the coordinates of the installed antenna’s ARP
in ECEF coordinates; datum definitions are not yet supported. The coordinates always refer to a physical
point on the antenna, typically the bottom of the antenna mounting surface.

RTCM1007 and RTCM1008 Extended Antenna Descriptions
Message Type 1007 provides an ASCII descriptor of the base station antenna. The International GPS
Service (IGS) Central Bureau convention is used most of the time, since it is universally accessible.
Message Type 1008 provides the same information, plus the antenna serial number, which removes any
ambiguity about the model number or production run.
IGS limits the number of characters to 20. The antenna setup ID is a parameter for use by the service
provider to indicate the particular base station-antenna combination. "0" for this value means that the values
of a standard model type calibration should be used. The antenna serial number is the individual antenna
serial number as issued by the manufacturer of the antenna.

RTCM1009-RTCM1012 GLONASS RTK Observables
Message Types 1009 through 1012 provide the contents of the GLONASS RTK messages, which are based
on raw data. You can obtain complete RINEX files from this data. This set of messages offers a high level of
interoperability and compatibility with standard surveying practices. When using these messages, you should
also use an ARP message (Type 1005 or 1006) and an Antenna Descriptor message (Type 1007 or 1008). If
the time tags of the GPS and GLONASS RTK data are synchronized, the Synchronized GNSS flag can be
used to connect the entire RTK data block.

RTCM1019-RTCM1020 GPS and GLONASS Ephemerides
Message Type 1019 contains GPS satellite ephemeris information. Message Type 1020 contains GLONASS
ephemeris information. These messages can be broadcast in the event that an anomaly in ephemeris data is
detected, requiring the base station to use corrections from previously good satellite ephemeris data. This
allows user equipment just entering the differential system to use corrections broadcast from that ephemeris.
Broadcast this message (Type 1019 or 1020) every 2 minutes until the satellite broadcast is corrected or until
the satellite drops below the coverage area of the base station.
These messages can also be used to assist receivers to quickly acquire satellites. For example, if you access
a wireless service with this message, it can utilize the ephemeris information immediately rather than waiting
for a satellite to be acquired and the almanac data processed.

OEM6 Firmware Reference Manual Rev 12

628

Data Logs

Chapter 3

RTCM1070-RTCM1229 Multiple Signal Messages (MSM)
The MSM messages are a set of RTK correction messages that provide standardized content across all
current and future GNSS system.
Each GNSS system has a set of seven MSM types numbered from 1 to 7. The MSM type for each GNSS
system provides the same generic information. For example, MSM1 for each GNSS system provides the
code measurements for the system. See Table 137, MSM type descriptions for the descriptions of each of the
seven MSM types.
Table 137: MSM type descriptions
Message

Description

MSM1

Provides the code measurements.

MSM2

Provides the phase measurements.

MSM3

Provides the data from MSM1 (code) and MSM2 (phase) in a single message.

MSM4

Provides all the data from MSM3 (code and phase) and adds the CNR measurements.

MSM5

Provides all the data from MSM4 (code, phase and CNR) and adds the Doppler measurements.

MSM6

Provides the same information as MSM4, but has extended resolution on the measurements.

MSM7

Provides the same information as MSM5, but has extended resolution on the measurements.

Table 138, Supported MSM messages lists the MSM messages supported on OEM6.
Table 138: Supported MSM messages
Message

GPS

GLONASS

Galileo

QZSS

BeiDou

MSM1

RTCM1071

RTCM1081

RTCM1091

RTCM1111

RTCM1121

MSM2

RTCM1072

RTCM1082

RTCM1092

RTCM1112

RTCM1122

MSM3

RTCM1073

RTCM1083

RTCM1093

RTCM1113

RTCM1123

MSM4

RTCM1074

RTCM1084

RTCM1094

RTCM1114

RTCM1124

MSM5

RTCM1075

RTCM1085

RTCM1095

RTCM1115

RTCM1125

MSM6

RTCM1076

RTCM1086

RTCM1096

RTCM1116

RTCM1126

MSM7

RTCM1077

RTCM1087

RTCM1097

RTCM1117

RTCM1127

For most applications, MSM3 is recommended.

OEM6 Firmware Reference Manual Rev 12

629

Data Logs

Chapter 3

3.2.132 RTKASSISTSTATUS
RTK ASSIST status
OEM Platform:

628, FlexPak6, SMART6-L

This log provides information on the state of RTK ASSIST.
RTK ASSIST operates in two modes: coast and full assist. The RTKASSISTSTATUS log reports which mode
is currently available. Coast mode is available as soon as the RTK ASSIST corrections are received from the
L-Band satellite, while full assist mode requires a convergence period. In coast mode, position error growth
during RTK correction outages is slightly worse than in full assist mode and RTK will not resume following a
full signal outage until after RTK corrections are restored. Full assist gives the lowest position error growth
during RTK correction outages, and makes it possible for RTK to resume even if there are complete GNSS
signal outages during the RTK ASSIST period.
The RTK ASSIST ACTIVE state reported in the RTKASSISTSTATUS log is also reported in the RTKPOS and
BESTPOS extended solution status field. See Table 87, Extended Solution Status on page 398.
The RTKASSISTSTATUS log reports the time remaining in the RTK ASSIST ACTIVE state. Once RTK
ASSIST becomes active, the remaining time will count down from the time out set by the
RTKASSISTTIMEOUT command (see page 246).
The corrections age reported in the RTKASSISTSTATUS log should typically be below 30 seconds. If the age
exceeds this value, then L-Band tracking is likely being degraded. The most likely cause of degraded L-Band
tracking are obstructions between the antenna and the L-Band satellite.
Message ID:

2048

Log Type:

Asynch

Recommended Input:
log rtkassiststatusa ontime 5
Field

Field type

Description

1

RTKASSISTSTATUS
header

Log header

2

State

State:
INACTIVE (0)
ACTIVE (1)

3

Binary
Bytes

Format

Binary
Offset

H

0

Enum

4

H

Mode

Mode:
UNAVAILABLE (0)
COAST (1)
ASSIST (2)

Enum

4

H+4

4

Remaining time

Time remaining in seconds.

Float

4

H+8

5

Corrections age

Age of the RTK ASSIST corrections in seconds

Float

4

H+12

6

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+16

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

630

Data Logs

Chapter 3

3.2.133 RTKDOP
DOP values from the RTK fast filter
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the DOP values calculated by the RTK fast filter.
The RTKDOP log contains single-point DOPs, calculated using only the satellites used in the fast RTK
solution, that is, those used for the RTKPOS position. Calculation of the RTK DOPs are limited to once a
second.
The calculation of the RTK DOP is different than that for the pseudorange DOP. In the pseudorange filter,
new DOPs are calculated every 60 seconds. The RTK DOP is calculated at the rate requested and
regardless of a change in satellites. However, the DOP is only calculated when the RTKDOP log is
requested.
Message ID:

952

Log Type:

Synch

Recommended Input:
log rtkdopa ontime 10
ASCII Example:
#RTKDOPA,COM1,0,60.0,FINESTEERING,1449,446982.000,00000008,b42b,3044;2.3386,
1.9856,0.9407,1.5528,1.2355,10.0,11,21,58,6,7,10,16,18,24,26,29,41*85f8338b
Field

Field type

Description

1

RTKDOP header

Log header

2

GDOP

Geometric DOP

3

PDOP

4

Binary
Bytes

Format

Binary Offset

H

0

Float

4

H

Position DOP

Float

4

H+4

HDOP

Horizontal DOP

Float

4

H+8

5

HTDOP

Horizontal and Time DOP

Float

4

H+12

6

TDOP

Time DOP

Float

4

H+16

7

elev mask

GPS elevation mask angle

Float

4

H+20

8

#sats

Number of satellites to follow

Ulong

4

H+24

9

sats

Satellites in use at time of calculation

Ulong

4

H+28

10

Next satellite offset = H+28+(#sats * 4)

11

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+28+(#sats * 4)

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

631

Data Logs

Chapter 3

3.2.134 RTKDOP2
DOP values from the RTK low latency filter
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log is similar to the RTKDOP log, but contains the per-system TDOPs.
Message ID:

1172

Log Type:

Synch

Recommended Input:
log rtkdop2a ontime 10
ASCII Example:
#RTKDOP2A,COM1,0,80.0,FINESTEERING,1690,601478.000,00000008,ab50,43488;
1.5000,1.1850,0.6580,0.9850,2,GPS,0.6530,GLONASS,0.6490*c5f1a25f
Field

Field type

Description

1

RTKDOP2
header

Log header

2

GDOP

Geometric DOP

3

PDOP

4

Format

Binary
Binary Offset
Bytes
H

0

Float

4

H

Position DOP

Float

4

H+4

HDOP

Horizontal DOP

Float

4

H+8

5

VDOP

Vertical DOP

Float

4

H+12

6

#systems

Number of entries to follow

Ulong

4

H+16

7

system

See Table 65, System Used for Timing on page 296

Enum

4

H+20

8

TDOP

Time DOP (Dilution of Precision)

Float

4

H+24

9

Next satellite offset = H+20+(#systems * 8)

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+20+
(#systems * 8)

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

632

Data Logs

Chapter 3

3.2.135 RTKPOS
RTK low latency position data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the low latency RTK position computed by the receiver, along with two status flags. In
addition, it reports other status indicators, including differential age, which is useful in predicting anomalous
behavior brought about by outages in differential corrections. This log is recommended for kinematic
operation. Better accuracy can be obtained in static operation with the MATCHEDPOS log (see page 523).
With the system operating in an RTK mode, this log reflects if the solution is a good RTK low latency solution
(from extrapolated base station measurements) or invalid. A valid RTK low latency solution is computed for
up to 60 seconds after reception of the last base station observation. The degradation in accuracy, due to
differential age, is reflected in the standard deviation fields, and is summarized in the Standards and
References section of our website www.novatel.com/support/. See also the PSRDIFFTIMEOUT command
(see page 237).
Message ID:

141

Log Type:

Synch

Recommended Input:
log rtkposa ontime 1
ASCII Example:
#RTKPOSA,COM1,0,54.5,FINESTEERING,1419,340040.000,00000040,176e,2724;
SOL_COMPUTED,NARROW_INT,51.11635911294,-114.03833103654,1063.8336,-16.2712,
WGS84,0.0179,0.0096,0.0174,"AAAA",1.000,0.000,12,11,11,11,0,01,0,33*0adb3e47
Consider the case of a racing car, on a closed circuit, requiring RTK operation. In this situation,
you would have to send live data to the pits using a radio link.
RTK operation enables live centimeter level position accuracy. When answers are required in
the field, the base station must transmit information to the rover in real-time. For RTK operation,
extra equipment such as radios are required to transmit and receive this information. The base
station has a corresponding base radio and the rover station has a corresponding rover radio.
Post-processing can provide post-mission position and velocity data using raw GNSS data
collected from the car. The logs necessary for post-processing include:
RANGECMPB ONTIME 1
RAWEPHEMB ONNEW
These are examples of data collection for post-processing, and real-time operation. OEM6based output is compatible with post-processing software from the NovAtel’s Waypoint
Products Group or refer to our website at www.novatel.com for more details.

Field

Field type

Description

1

RTKPOS
header

Log header

2

sol status

Solution status (see Table 83, Solution Status on page 395)

OEM6 Firmware Reference Manual Rev 12

Format

Enum

Binary Binary
Bytes Offset
H

0

4

H

633

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset

3

pos type

Position type (see Table 84, Position or Velocity Type on
page 396)

Enum

4

H+4

4

lat

Latitude (degrees)

Double

8

H+8

5

lon

Longitude (degrees)

Double

8

H+16

6

hgt

Height above mean sea level (m)

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid and the
WGS84 ellipsoid (m) a

Float

4

H+32

8

datum id#

Datum ID number (see Table 26, Datum Transformation
Parameters on page 116)

Enum

4

H+36

9

lat 

Latitude standard deviation (m)

Float

4

H+40

10

lon 

Longitude standard deviation (m)

Float

4

H+44

11

hgt 

Height standard deviation (m)

Float

4

H+48

12

stn id

Base station ID

Char[4]

4

H+52

13

diff_age

Differential age in seconds

Float

4

H+56

14

sol_age

Solution age in seconds

Float

4

H+60

15

#SVs

Number of satellites tracked

Uchar

1

H+64

16

#solnSVs

Number of satellites vehicles used in solution

Uchar

1

H+65

17

#ggL1

Number of satellites with L1/E1/B1 signals used in solution

Uchar

1

H+66

18

#solnMultiSVs

Number of satellites with multi-frequency signals used in
solution

Uchar

1

H+67

19

Reserved

Hex

1

H+68

20

ext sol stat

Extended solution status (see Table 87, Extended Solution
Status on page 398)

Hex

1

H+69

21

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see Table 85,
BESTPOS Galileo and BeiDou Signal-Used Mask on
page 398)

Hex

1

H+70

22

GPS and
GPS and GLONASS signals used mask (see Table 86,
GLONASS sig BESTPOS GPS and GLONASS Signal-Used Mask on
mask
page 398)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between
the datum in use and WGS84.

OEM6 Firmware Reference Manual Rev 12

634

Data Logs

Chapter 3

3.2.136 RTKSATS
Satellites used in RTKPOS solution
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log lists the used and unused satellites for the corresponding RTKPOS solution. It also describes the
signals of the used satellites and reasons for exclusions.
Message ID:

1174

Log Type:

Synch

Recommended Input:
log rtksats ontime 1
Abbreviated ASCII Example:
= 16 (ERROR) indicate that an error has occurred during the loading process.
Status < 16 (ERROR) are part of normal SoftLoad operation.
Message ID:

1235

Log Type:

Asynch

Recommended Input:
log softloadstatusa onchanged
ASCII Example:
#SOFTLOADSTATUSA,COM1,0,97.5,UNKNOWN,0,0.113,004c0001,2d64,10481;
NOT_STARTED*827fdc04
Field

Field Type

Description

Format

Binary Binary
Bytes Offset

1

SOFTLOADSTATUS
header

Log header

-

H

0

2

status

Status of the SoftLoad process see Table 149,
SoftLoad Status Type

Enum

4

H

3

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4

4

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 149: SoftLoad Status Type
Value
1

Name

Description

NOT_STARTED

SoftLoad process has not begun

READY_FOR_SETUP

SoftLoad process is ready to receive setup information in the form of
SOFTLOADSETUP commands or SOFTLOADSREC commands with S0
records.Once sufficient setup data has been sent, the process is also
ready for SOFTLOADDATA commands

3

READY_FOR_DATA

SoftLoad process is ready to receive data in the form of
SOFTLOADDATA commands or SOFTLOADSREC commands with S3
records. Once all data has been sent, send the SOFTLOADCOMMIT
command

4

DATA_VERIFIED

SoftLoad data has passed CRC. This status occurs after a
SOFTLOADCOMMIT command

2

OEM6 Firmware Reference Manual Rev 12

705

Data Logs
Value

Chapter 3
Name

Description

5

WRITING_FLASH

SoftLoad data is being written to flash. This status occurs after a
SOFTLOADCOMMIT command. During a firmware upload, the receiver
may remain in this state for 300 seconds or longer

6

WROTE_FLASH

SoftLoad data has been written to flash

7

WROTE_AUTHCODE

The embedded AuthCode was successfully written

8

COMPLETE

SoftLoad process has completed. The next step is to send the RESET
command to reset the receiver

9

VERIFYING_DATA

SoftLoad is verifying the downloaded image

10

COPIED_SIGNATURE_AUTH

Signature AuthCodes have been copied from the current firmware to
the downloaded firmware.

11

WROTE_TRANSACTION_TABLE

The downloaded firmware has been activated and will be executed if
the receiver is reset. This status is effectively identical to COMPLETE.

16

ERROR

Indicates an internal error in the SoftLoad process. This error is not
expected to occur. Contact NovAtel Customer Support for assistance.

17

RESET_ERROR

Error reseting SoftLoad. Reset the receiver and restart the SoftLoad
process.

18

BAD_SRECORD

A bad S Record was received. Ensure that S Records are enclosed in
double quotes within the SOFTLOADSREC command.

19

BAD_PLATFORM

This data cannot be loaded onto this platform. Ensure that the correct
*.hex or *.shex file for the platform is being used.

20

BAD_MODULE

This module cannot be loaded with SoftLoad. This file must be loaded
using WinLoad or a similar loader.

21

BAD_AUTHCODE

Bad AuthCode received for this PSN

22

NOT_READY_FOR_SETUP

A SOFTLOADSETUP command was entered before a
SOFTLOADRESET or after a SOFTLOADDATA command

23

NO_MODULE

No data type was entered before a SOFTLOADDATA command was
received. Set the data type using the SOFTLOADSETUP command or
SOFTLOADSREC command with an "S0~T~" S Record.

24

NO_PLATFORM

No platform was entered before a SOFTLOADDATA command was
received. Set the platform using the SOFTLOADSETUP command or
SOFTLOADSREC command with an "S0~P~" S Record.

25

NOT_READY_FOR_DATA

A SOFTLOADDATA command was received but the receiver was not
ready for it

26

MODULE_MISMATCH

The SoftLoad data module was changed in the middle of loading.
Restart the SoftLoad process using the SOFTLOADRESET command.

27

OUT_OF_MEMORY

SoftLoad has run out of RAM to store the incoming data. Reset the
receiver and restart the SoftLoad process.

28

DATA_OVERLAP

SoftLoad data has overlapped. Ensure that the correct address and
length is set in the SOFTLOADDATA or SOFTLOADSREC command.

OEM6 Firmware Reference Manual Rev 12

706

Data Logs
Value

Chapter 3
Name

Description

29

BAD_IMAGE_CRC

CRC of the downloaded image has failed. Ensure that all content from
the *.hex or *.shex file has been successfully downloaded.

30

IMAGE_OVERSIZE

The downloaded image is too big for the intended data module

31

AUTHCODE_WRITE_ERROR

An error occurred when writing the embedded AuthCode to flash

32

BAD_FLASH_ERASE

Erasing of the flash failed. This could indicate a failure in the flash
hardware.

33

BAD_FLASH_WRITE

Writing to the flash failed. This could indicate a failure in the flash
hardware.

34

TIMEOUT

SoftLoad time out has occurred

OEM6 Firmware Reference Manual Rev 12

707

Data Logs

Chapter 3

3.2.170 SOURCETABLE
NTRIP source table entries
OEM Platform:

628, 638, FlexPak6, ProPak6

This log outputs the NTRIP SOURCETABLE entries from the NTRIPCASTER set by the
NTRIPSOURCETABLE command (see page 213). The entry data field in the first entry is always the header of
the retrieved SOURCETABLE. The entry data field in the last entry is always a string “ENDSOURCETABLE”
which indicates the end of the source table. Entries in between these fields are the real SOURCETABLE
entries.
Message ID:

1344

Log Type:

Polled

Recommended Input:
log sourcetablea once
ASCII Example:
#SOURCETABLEA,COM1,17,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"HTTP/1.1 200 OK;Ntrip-Version: Ntrip/2.0;NtripFlags: st_filter,st_auth,st_match,st_strict,rtsp,plain_rtp;Server: NTRIP Caster/
2.0.15;Date: Fri, 27 Jan 2017 18:12:01 GMT;Connection: close;Content-Type: gnss/
sourcetable;Content-Length: 2057"*87a7d39d
#SOURCETABLEA,COM1,16,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"CAS;hera.novatel.ca;80,2101;NovAtel;NovAtel;0;CAN;5
1;-115;http://www.novatel.com"*e3ec11a0
#SOURCETABLEA,COM1,15,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"NET;GREF;NovAtel;B;N;http://
novatel.com;none;novatel.com;none"*2a6b50eb
#SOURCETABLEA,COM1,14,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"STR;novatel_rtcmv3;Office Roof DL1L2;RTCM
3.0;1033(10),1005(10),1019(60),1020(60),1003(1),1011(1);2;GPS+GLO;NovAtel;CAN;5
1;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*8a7c760f
#SOURCETABLEA,COM1,13,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"STR;novatel_rtcm;Office Roof DL1L2;RTCM
2.3;1(1),3(10),31(1),32(10);0;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel
OEM628;none;B;N;9600;Test"*08c57cb7
#SOURCETABLEA,COM1,12,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"STR;novatel_rtca;Office Roof
DL1L2;RTCA;RTCAREF(10),RTCA1(1),RTCAEPHEM(60);0;GPS;NovAtel;CAN;51;115;0;0;NovAtel OEM628;none;B;N;9600;Test"*006997bc
#SOURCETABLEA,COM1,11,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"STR;novatel_cmr;Office Roof
DL1L2;CMR;CMRREF(10),CMROBS(1),CMRGLOOBS(1);2;GPS+GLO;NovAtel;CAN;51;115;0;0;NovAtel OEM628;none;B;N;9600;Test"*0955ccb7
#SOURCETABLEA,COM1,10,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"
hera.novatel.com:2101",0,0,"STR;novatel_rtcaobs2;Office Roof
DL1L2;RTCA;rtcaref(10),rtcaobs2(1),rtcaephem(60);2;GPS+GLO;NovAtel;CAN;51;115;0;0;NovAtel OEM628;none;B;N;9600;Test"*426e39a5

OEM6 Firmware Reference Manual Rev 12

708

Data Logs

Chapter 3

#SOURCETABLEA,COM1,9,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;novatel_cmrplus;Office Roof
DL1L2;CMR+;cmrplus(1),cmrobs(1),cmrgloobs(1);2;GPS+GLO;NovAtel;CAN;51;115;0;0;NovAtel OEM628;none;B;N;9600;Test"*2d5ba56e
#SOURCETABLEA,COM1,8,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;novatel_rtcm2021;Office Roof DL1L2;RTCM
2.3;3(10),2021(1);2;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel
OEM628;none;B;N;9600;Test"*d82df5de
#SOURCETABLEA,COM1,7,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;novatel_1819;Office Roof DL1L2;RTCM
2.3;3(10),22(10),23(60),24(60),1819(1);2;GPS+GLO;NovAtel;CAN;51;115;0;0;NovAtel OEM628;none;B;N;9600;Test"*7aead153
#SOURCETABLEA,COM1,6,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;novatel_rtcaobs;Office Roof
DL1L2;RTCA;rtcaref(10),rtcaobs(1),rtcaephem(60);2;GPS+GLO;NovAtel;CAN;51;115;0;0;NovAtel OEM628;none;B;N;9600;Test"*530a51c4
#SOURCETABLEA,COM1,5,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;novatel_novatelx;Office
Roof;NovatelX;novatelobs;2;GPS+GLO;NovAel;CAN;51;-114;0;0;NovAtel
OEM628;none;B;N;9600;Test"*4438c2e2
#SOURCETABLEA,COM1,4,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;Hyderabad1;hyderabad
test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel
OEM628;none;B;N;9600;Test"*de6c19f0
#SOURCETABLEA,COM1,3,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;Hyderabad2;hyderabad
test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel
OEM628;none;B;N;9600;Test"*27e9eee1
#SOURCETABLEA,COM1,2,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;Hyderabad3;hyderabad
test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel
OEM628;none;B;N;9600;Test"*3ed5941b
#SOURCETABLEA,COM1,1,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"STR;Hyderabad4;hyderabad
test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel
OEM628;none;B;N;9600;Test"*a3a188e2
#SOURCETABLEA,COM1,0,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h
era.novatel.com:2101",0,0,"ENDSOURCETABLE"*7758fba9

Field

Field Type

Description

1

SOURCETABLE
header

Log header

2

endpoint

NTRIPCASTER Endpoint

3

Reserved1

reserved

OEM6 Firmware Reference Manual Rev 12

Format

Binary
Bytes

Binary
Offset

H

0

String with varied length
up to 80 bytes

aa

H

Ulong

4

H+a

709

Data Logs

Field

Chapter 3

Field Type

Description

Binary
Bytes

Format

Binary
Offset

4

Reserved2

reserved

Ulong

4

H+a+4

5

Entry data

Source table entry data

String with varied length
up to 512 bytes

ba

H+a+8

6

xxxx

32-bit CRC (ASCII and binary only)

Ulong

4

H+a+b+8

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

710

Data Logs

Chapter 3

3.2.171 TERRASTARINFO
TerraStar subscription information
OEM Platform:

628, 638, FlexPak6, ProPak6

This log contains details on the TerraStar subscription.
TerraStar-L is not available for OEM638 and ProPak6 receivers.

Message ID:

1719

Log Type:

Asynch

Recommended Input:
log terrastarinfoa onchanged
ASCII Example:
#TERRASTARINFOA,COM1,0,65.5,UNKNOWN,0,1.168,00040008,E776,13260;"QR391:3006:617
9",TERM,00000301,167,2015,0,NONE,0.00000,0.00000,0*7E4A9EC0
Field

Field type

Description

Format

Binary Binary
Bytes Offset

1

TERRA STARINFO
Log header
header

2

PAC

Product activation code

Char[16] 16

H

3

Type

Subscription type (see Table 151, TerraStar
Subscription Type on page 712)

Enum

4

H+16

4

Subscription
permissions

Hex

4

H+20

5

Service End DOY

4

H+24

For example, if the TerraStar service end date/time is Ulong
2015-06-15 00:01:05 HRS UTC (DOY = 166), then the
Service End DOY will indicate it as 167 and Service End
Year will indicate it as 2015.

4

H+28

Ulong

4

H+32

For region restricted subscriptions, the type of region
restriction (see Table 152, TerraStar Region Restriction Enum
on page 712)

4

H+36

Services permitted by the subscription (see Table 150,
TerraStar Subscription Permissions Field on page 712)
Note: Bits in the Reserved areas of this field may be set,
but the Reserved bits should be ignored.

H

The Day of Year (DOY) following the TerraStar Service
Ulong
end DOY.

0

The year (YYYY) associated with the TerraStar service
end DOY.
6

Service End Year

7

Reserved

8

Region restriction

OEM6 Firmware Reference Manual Rev 12

711

Data Logs

Field

Chapter 3

Field type

Description

Format

Binary Binary
Bytes Offset

9

Center point latitude

For local area subscriptions, the center point latitude
(degrees)

Float

4

H+40

10

Center point
longitude

For local area subscriptions, the center point longitude
Float
(degrees)

4

H+44

11

Radius

For local area subscriptions, the maximum permitted
distance from center point (kilometers)

Ulong

4

H+48

12

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+52

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 150: TerraStar Subscription Permissions Field
Bit

Mask

Description

0-8

0x000001FF

Reserved

9

0x00000200

TerraStar-C service

10

0x00000400

TerraStar-L service

11

0x00000800

RTK ASSIST service

12-31

0xFFFFF000

Reserved

Table 151: TerraStar Subscription Type
ASCII

Binary

Description

UNASSIGNED

0

Decoder has not had an assigned operating mode

TERM

1

Term subscription

BUBBLE

100

Receiver is operating in a TerraStar-permitted subscription-free bubble

MODEL_DENIED

101

TerraStar is not permitted on the current firmware model
Table 152: TerraStar Region Restriction

ASCII

Binary

Description

NONE

0

TerraStar operation is not permitted

GEOGATED

1

TerraStar operation limited to on-land

LOCAL_AREA

2

TerraStar operation limited to radius from local area center point

NEARSHORE

3

TerraStar operation limited to on land and nearshore (coastal) regions

OEM6 Firmware Reference Manual Rev 12

712

Data Logs

Chapter 3

3.2.172 TERRASTARSTATUS
TerraStar decoder and subscription status
OEM Platform:

628, 638, FlexPak6, ProPak6

This log contains status information for the TerraStar decoder and subscription.
Message ID:

1729

Log Type:

Asynch

Recommended Input:
log terrastarstatusa onchanged
ASCII Example:
#TERRASTARSTATUSA,COM1,0,49.5,FINESTEERING,1769,332336.443,00000000,fdc1,12602;
ENABLE,LOCKED,0,DISABLED,ONSHORE*555155a5

Field

Field type

Description

Format

1

TERRASTAR
Log header
STATUS header

2

Access

Access status. ENABLE (1) if the subscription is valid;
DISABLE (0) otherwise

3

Sync state

Decoder data synchronization state (see Table 153,
TerraStar Decoder Data Synchronization State)

4

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Enum

4

H+4

Reserved

Ulong

4

H+8

5

For local-area subscriptions, indicates if the receiver is
Local area status within the permitted area (see Table 154, TerraStar Local
Area Status on page 714)

Enum

4

H+12

6

Geogating status

Geogating status (see Table 155, TerraStar Geogating
Status on page 714)

Enum

4

H+16

7

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+20

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 153: TerraStar Decoder Data Synchronization State
ASCII

Binary

Description

NO_SIGNAL

0

Decoder has not received L-band for more than 30 seconds

SEARCH

1

Decoder is searching for format

LOCKED

2

Decoder is locked to the data format

WRONG_BEAM

3

Decoder is locked onto a beam different than the one assigned

OEM6 Firmware Reference Manual Rev 12

713

Data Logs

Chapter 3
Table 154: TerraStar Local Area Status
ASCII

Binary

Description

DISABLED

0

Waiting for or unknown local area status

WAITING_FOR_POSITION

1

Waiting for a position

RANGE_CHECK

16

Checking position against local area region restriction

IN_RANGE

129

Receiver is within the permitted local area

OUT_OF_RANGE

130

Receiver is outside the permitted local area

POSITION_TOO_OLD

255

Position is too old

Table 155: TerraStar Geogating Status
ASCII

Binary

Description

DISABLED

0

Waiting for or unknown geogating area status

WAITING_FOR_POSITION

1

Waiting for a position

ONSHORE

129

Receiver is over land

OFFSHORE

130

Receiver is over water

POSITION_TOO_OLD

255

Position is too old

PROCESSING

1000

Geogater is determining status

OEM6 Firmware Reference Manual Rev 12

714

Data Logs

Chapter 3

3.2.173 TIME
Time data
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log provides several time related pieces of information including receiver clock offset and UTC time and
offset. It can also be used to determine any offset in the PPS signal relative to GPS reference time.
To find any offset in the PPS signal, log the TIME log 'ontime' at the same rate as the PPS output. For
example, if the PPS output is configured to output at a rate of 0.5 seconds, see the PPSCONTROL command
on page 227, log the TIME log 'ontime 0.5' as follows:
log time ontime 0.5
The TIME log offset field can then be used to determine any offset in PPS output relative to GPS reference
time.
Message ID:

101

Log Type:

Synch

Recommended Input:
log timea ontime 1
ASCII Example:
#TIMEA,COM1,0,50.5,FINESTEERING,1337,410010.000,00000000,9924,1984;VALID,1.9533
77165e-09,7.481712815e-08,-12.99999999492,2005,8,25,17,53,17000,VALID*e2fc088c
1. Consider the case where you used the ADJUST1PPS command (see page 58) to synchronize
two receivers in a primary/secondary relationship to a common external clock. You can use
the TIME log after the clock model has stabilized at state 0, to monitor the time difference
between the Primary and Secondary receivers.
2. The header of the TIME log gives you the GPS reference time (the week number since
January 5th, 1980) and the seconds into that week. The TIME log outputs the UTC offset
(offset of GPS reference time from UTC time) and the receiver clock offset from GPS
reference time.
If you want the UTC time in weeks and seconds, take the week number from the header. Then
take the seconds into that week, also from the header, and add the correction to the seconds
using the 2 offsets. Ensure not to go negative or rollover (go over the total number of seconds,
604800, in a week). In the case of a rollover, add a week and the left over seconds become the
seconds into this new week. If negative, subtract a week and the remainder from the seconds of
that week become the seconds into this new week.
For example:
TIME COM1 0 73.5 FINESTEERING 1432 235661.000 00000000 9924 2616 VALID 0.000000351 0.000000214 -14.00000000106 2007 6 19 17 27 27000 VALID
From the time information above:
GPS reference time = 1432 (GPS reference week), 235661.000 (GPS seconds) from the
header.
From the UTC offset row in the TIME log description on page 716:
UTC time = GPS reference time + offset + UTC offset
UTC time = week 1432, 235661.000 s - 0.000000351 (offset) - 14.00000000106 (UTC offset)
= week 1432, seconds 235646.99999964794

OEM6 Firmware Reference Manual Rev 12

715

Data Logs

Field

Chapter 3

Field type

Description

1

TIME header Log header

2

clock status

Clock model status (not including current measurement data),
see Table 99, Clock Model Status on page 421

3

4

Format

Binary Binary
Bytes Offset
H

0

4

H

offset

Receiver clock offset in seconds from GPS reference time. A
positive offset implies that the receiver clock is ahead of GPS
Double
reference time. To derive GPS reference time, use the following
formula: GPS reference time = receiver time - offset

8

H+4

offset std

Receiver clock offset standard deviation (s)

Double

8

H+12

5

utc offset

The offset of GPS reference time from UTC time, computed
using almanac parameters. UTC time is GPS reference time
plus the current UTC offset plus the receiver clock offset: UTC
time = GPS reference time + offset + UTC offset

Double

8

H+20

6

utc year

UTC year

Ulong

4

H+28

7

utc month

UTC month (0-12) a

Uchar

1

H+32

8

utc day

UTC day (0-31) a

Uchar

1

H+33

9

utc hour

UTC hour (0-23)

Uchar

1

H+34

10

utc min

UTC minute (0-59)

Uchar

1

H+35

11

utc ms

UTC millisecond (0-60999) b

Ulong

4

H+36

Enum

4

H+40

Enum

UTC status
12

utc status

0 = Invalid
1 = Valid
2 = Warningc

13

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+44

14

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. If UTC time is unknown, the values for month and day are 0.
b. Maximum of 60999 when leap second is applied.
c. Indicates that the leap second value is used as a default due to the lack of an almanac.

OEM6 Firmware Reference Manual Rev 12

716

Data Logs

Chapter 3

3.2.174 TIMESYNC
Synchronize time between GNSS receivers
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The TIMESYNC log is used in conjunction with the ADJUST1PPS command (see page 58) to synchronize the
time between GNSS receivers.
Message ID:

492

Log Type:

Synch

Recommended Input:
log timesynca ontime 1
ASCII Example:
#TIMESYNCA,COM1,0,46.0,FINESTEERING,1337,410095.000,00000000,bd3f,
1984;1337,410095000,FINESTEERING*aa2025db
The time data embedded in this log represents the time of the most recent 1PPS signal. The
receiver issues this log from a communications port within 200 ms of the last 1PPS event. The
200 ms value is a "worst case scenario.” Refer to Figure 2, 1PPS Alignment on page 58 to see
the alignment between a Fine and a Cold Clock receiver. Also refer to the Transfer Time
Between Receivers section in the OEM6 Family Installation and Operation User Manual (OM20000128).

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

TIMESYNC header Log header

2

week

GPS reference week number

Ulong

4

H

3

ms

Number of milliseconds into the GPS reference week

Ulong

4

H+4

4

time status

GPS reference time Status, see Table 8, GPS Reference
Enum
Time Status on page 32

4

H+8

5

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+12

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

717

Data Logs

Chapter 3

3.2.175 TRACKSTAT
Tracking status
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

The TRACKSTAT log contains an entry for each channel. If there are multiple signal channels for one satellite
(for example L1, L2 P(Y), L2C, and L5 for GPS), then there will be multiple entries for that satellite. The signal
type can be determined from the channel tracking status word.
If both the L1 and L2 signals are being tracked for a given PRN, two entries with the same PRN appear in the
tracking status log. As shown in Table 125, Channel Tracking Status on page 589 these entries can be
differentiated by bit 20, which is set if there are multiple observables for a given PRN, and bits 21-25, which
denote the signal type for the observation. This is to aid in parsing the data.
A zero in the PRN/slot of the TRACKSTAT log indicates the channel should be considered idle with the
exception of those for GLONASS. A GLONASS channel should only be considered idle if the tracking state is
0 in the channel tracking status word.
Message ID:

83

Log Type:

Synch

Recommended Input:
log trackstata ontime 1
ASCII Example:
#TRACKSTATA,COM1,0,49.5,FINESTEERING,1337,410139.000,00000000,457c,1984;
SOL_COMPUTED,PSRDIFF,5.0,30,
1,0,18109c04,21836080.582,-2241.711,50.087,1158.652,0.722,GOOD,0.973,
1,0,11309c0b,21836083.168,-1746.788,42.616,1141.780,0.000,OBSL2,0.000,
30,0,18109c24,24248449.644,-2588.133,45.237,939.380,-0.493,GOOD,0.519,
30,0,11309c2b,24248452.842,-2016.730,38.934,939.370,0.000,OBSL2,0.000,
...
14,0,18109da4,24747286.206,-3236.906,46.650,1121.760,-0.609,GOOD,0.514,
14,0,11309dab,24747288.764,-2522.270,35.557,1116.380,0.000,OBSL2,0.000,
0,0,0c0221c0,0.000,0.000,0.047,0.000,0.000,NA,0.000,
0,0,0c0221e0,0.000,0.000,0.047,0.000,0.000,NA,0.000*255a732e
For the OEM617D and FlexPak6D receivers, a TRACKSTAT_1 log can be requested to get
TRACKSTAT data from the second antenna. As described in Table 3, Binary Message Header
Structure on page 23, the message type indicates the log is from the second antenna. To
request an ASCII log enter TRACKSTATA_1 and for a binary log enter TRACKSTATB_1.
For single point positioning, a minimum of 4 GPS satellites is required.
For RTK and OmniSTAR HP/XP/G2, a minimum of 5 GPS satellites are required.
Extra satellites provide additional redundancy, which is good to have. Note that the default cutoff angle is 5 degrees and single point positioning utilizes all available GPS satellites in the
position solution.
RTK solutions only use GNSS satellites that are above the RTK elevation angle (usually 12.5
degrees). So, although there could be more than 5 GPS satellites in view, if there are not at
least 5 GPS satellites above 12.5 degrees then an RTK solution may not be possible.

OEM6 Firmware Reference Manual Rev 12

718

Data Logs

Field

Chapter 3

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

TRACKSTAT
Log header
header

H

0

2

sol status

Solution status (see Table 83, Solution Status on page 395) Enum

4

H

3

pos type

Position type (see Table 84, Position or Velocity Type on
page 396)

Enum

4

H+4

4

cutoff

GPS tracking elevation cut-off angle

Float

4

H+8

5

# chans

Number of hardware channels with information to follow

Ulong

4

H+12

6

PRN/slot

Satellite PRN number of range measurement GPS: 1 to 32,
SBAS: 120-158, 183-187, QZSS: 193-197, Galileo: 1 to 36,
Short
BDS: 1-30. For GLONASS, see Section 1.3, GLONASS Slot
and Frequency Numbers on page 31

2

H+16

7

glofreq

(GLONASS Frequency + 7), see Section 1.3, GLONASS
Slot and Frequency Numbers on page 31

Short

2

H+18

8

ch-tr-status

Channel tracking status (see Table 125, Channel Tracking
Status on page 589)

ULong

4

H+20

9

psr

Pseudorange (m) - if this field is zero but the channel tracking
status in the previous field indicates that the card is phase
Double
locked and code locked, the pseudorange has not been
calculated yet

8

H+24

10

Doppler

Doppler frequency (Hz)

Float

4

H+32

11

C/No

Carrier to noise density ratio (dB-Hz)

Float

4

H+36

12

locktime

Number of seconds of continuous tracking (no cycle slips)

Float

4

H+40

13

psr res

Pseudorange residual from pseudorange filter (m)

Float

4

H+44

14

reject

Range reject code from pseudorange filter (see Table 89,
Observation Statuses on page 401)

Enum

4

H+48

15

psr weight

Pseudorange filter weighting

Float

4

H+52

16...

Next PRN offset = H+16+(#chans x 40)

17

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+16
(#chans
x 40)

18

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEM6 Firmware Reference Manual Rev 12

719

Data Logs

Chapter 3

3.2.176 VALIDMODELS
Valid model information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log gives a list of valid authorized models available and expiry date information.
If a model has no expiry date, it reports the year, month and day fields as 0, 0 and 0 respectively.
Message ID:

206

Log Type:

Asynch

Recommended Input:
log validmodelsa once
ASCII Example:
#VALIDMODELSA,COM1,0,92.0,FINESTEERING,1610,499139.682,00000000,342f,6293;
1,"D2LR0RCCR",0,0,0*d0580c1b
Use the VALIDMODELS log to output a list of available models for the receiver. Use the AUTH
command (see page 77), to add a model and the MODEL command (see page 205) to change
the currently active model. See the VERSION log on page 723 for the currently active model

Field

Field type

Description

Binary
Bytes

Format

Binary Offset

1

VALIDMODELS
Log header
header

2

#mod

Number of models with information to follow

Ulong

3

model

Model name

String
a H+4
[Max16] Variable

4

expyear

Expiry year

Ulong

4

Variable
Max:H+20

5

expmonth

Expiry month

Ulong

4

Variable
Max: H+24

6

expday

Expiry day

Ulong

4

Variable:
Max: H+28

7...

Next model offset = H+4+(#mod x variable [max:28])

8

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4+
(#mod x variable
[max:28])

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

H

0

4

H

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

OEM6 Firmware Reference Manual Rev 12

720

Data Logs

Chapter 3

3.2.177 VERIPOSINFO
Veripos subscription information
OEM Platform:

628, 617, 638, FlexPak6, ProPak6

This log contains details on the Veripos subscription.
Message ID:

1728

Log Type:

Asynch

Recommended Input:
log veriposinfoa onchanged
ASCII Example:
#VERIPOSINFOA,COM2,0,60.5,FINESTEERING,1779,176287.725,00044008,31fa,12740;
320325,NCC_CONTROLLED,00000101,"Q"*26a9f04e
Field

Field type

Description

1

VERIPOSINFO
Log header
header

2

Serial number

Receiver serial number

3

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Mode

Operating mode (see Table 156, Veripos Operating Mode) Enum

4

H+4

4

Details

Subscription details (refer to Table 157, Veripos
Subscription Details Mask on page 721)

Hex

4

H+8

5

Service code

Veripos service code

Char[4]

4

H+12

6

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+16

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 156: Veripos Operating Mode
ASCII

Binary

Description

UNASSIGNED

0

Decoder has not had an assigned operating mode

NCC_CONTROLLED

7

Decoder operation disabled by a command from the Network Control
Center (NCC)

NO_DISABLE

8

Decoder operation not disabled

BUBBLE

100

Decoder is operating in a Veripos permitted subscription-free bubble

MODEL_DENIED

101

Decoder operation is not permitted on the current firmware model

Table 157: Veripos Subscription Details Mask
Bit

Mask

0

0x001

Subscription permits differential positioning

8

0x100

Subscription permits Apex PPP positioning

OEM6 Firmware Reference Manual Rev 12

Description

721

Data Logs

Chapter 3

3.2.178 VERIPOSSTATUS
Veripos decoder and subscription status
OEM Platform:

628, 638, FlexPak6, ProPak6

This log contains status information for the Veripos decoder and subscription.
Message ID:

1730

Log Type:

Asynch

Recommended Input:
log veriposstatusa onchanged
ASCII Example:
#VERIPOSSTATUSA,COM2,0,62.0,FINESTEERING,1779,176955.656,00004008,0719,12740;
ENABLE,LOCKED*7c5f85ae

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

1

VERIPOSSTATUS
header

Log header

H

0

2

Access

Access status. ENABLE (1) if the subscription is valid;
Enum
DISABLE (0) otherwise

4

H

3

Sync state

Decoder data synchronization state (see Table 158,
Veripos Decoder Data Synchronization State)

Enum

4

H+4

4

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+8

5

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 158: Veripos Decoder Data Synchronization State
ASCII

Binary

Description

NO_SIGNAL

0

Decoder has not received L-band for more than 30 seconds

SEARCH

1

Decoder is searching for format

LOCKED

2

Decoder is locked to the data format

OEM6 Firmware Reference Manual Rev 12

722

Data Logs

Chapter 3

3.2.179 VERSION
Version information
OEM Platform:

615, 617, 617D, 628, 638, FlexPak6, FlexPak6D, ProPak6

This log contains the version information for all components of a system. When using a standard receiver,
there is only one component in the log.
A component may be hardware (for example, a receiver or data collector) or firmware in the form of
applications or data (for example, data blocks for height models or user applications). See Table 160,
VERSION Log Field Formats on page 725 for details on the format of key fields.
See also the VALIDMODELS log on page 720.
Message ID:

37

Log Type:

Polled

Recommended Input:
log versiona once
ASCII Example:
#VERSIONA,COM1,0,89.0,FINESTEERING,1610,504872.194,00000000,3681,6293;
1,GPSCARD,"D2LR0RCCR","BFN10260022","OEM628-.00","OEM060000RN0000",
"OEM060000SB0002","2010/Nov/05","16:11:18"*
The VERSION log is a useful log as a first communication with your receiver. Once connected,
using NovAtel’s Connect or HyperTerminal, log VERSION and check that the output makes
sense. Also, ensure that you have the receiver components you expected.

Field

Field type

Description

1

VERSION header Log header

2

# comp

Number of components (cards, and so on)

3

type

4

Format

Binary
Binary Offset
Bytes
H

0

Long

4

H

Component type (see Table 159, Component
Types on page 724)

Enum

4

H+4

model

OEM6 firmware model number
e.g., G1SBOGTTO indicates the receiver’s
current model functionality

Char[16]

16

H+8

5

psn

Product serial number

Char[16]

16

H+24

6

hw version

Hardware version, see Table 160, VERSION Log
Char[16]
Field Formats on page 725

16

H+40

7

sw version

Firmware software version, see Table 160,
VERSION Log Field Formats on page 725

Char[16]

16

H+56

8

boot version

Boot code version, see Table 160, VERSION
Log Field Formats on page 725

Char[16]

16

H+72

OEM6 Firmware Reference Manual Rev 12

723

Data Logs

Chapter 3

Field

Field type

Description

Format

Binary
Binary Offset
Bytes

9

comp date

Firmware compile date, see Table 160,
VERSION Log Field Formats on page 725

Char[12]

12

H+88

10

comp time

Firmware compile time, see Table 160,
VERSION Log Field Formats on page 725

Char[12]

12

H+100

11...

Next component offset = H + 4 + (#comp x 108)

12

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4+
(#comp x 108)

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 159: Component Types
Binary

ASCII

Description

0

UNKNOWN

Unknown component

1

GPSCARD

OEM6 family component

2

CONTROLLER

Reserved

3

ENCLOSURE

OEM card enclosure

8

USERINFO

Application specific information

12

OEM6FPGA

OEM638 FPGA version

13

GPSCARD2

Second card in a ProPak6

14

BLUETOOTH

Bluetooth component in a ProPak6

15

WIFI

Wi-Fi component in a ProPak6

16

CELLULAR

Cellular component in a ProPak6

4-7

Reserved
OmniSTAR CANa interface board

981073920 (0x3A7A0000)

DB_HEIGHTMODEL

Height/track model data

981073921 (0x3A7A0001)

DB_USERAPP

User application firmware

981073925 (0x3A7A0005)

DB_USERAPPAUTO

Auto-starting user application firmware

a. Please refer to the Acronyms page on our website at www.novatel.com.

OEM6 Firmware Reference Manual Rev 12

724

Data Logs

Chapter 3
Table 160: VERSION Log Field Formats

Field Type

Field Format (ASCII)

Description
Hardware version:

hw version

P-RS-CCC

P

= hardware platform (for example, OEM628)

R

= hardware revision (for example, 6.00)

S

= processor revision (for example, A) a

CCC

= COM port configuration (for example, 22T) b

Software Version:
sw version

OEM0603xxRN0000

OEM06 = the product
03

= the feature release

xx

= the maintenance release number

Boot Version:
OEM06 = the product
boot version

comp date

comp time

OEM0603xxRGB000

YYYY/Mmm/DD

HH:MM:SS

03

= the feature release (content may not be the same as
the software version)

xx

= the maintenance release number

YYYY

= year

Mmm

= month

DD

= day (1 - 31)

HH

= hour

MM

= minutes

SS

= seconds

a. This field may be empty if the revision is not stamped onto the processor.
b. One character for each of the COM ports 1, 2, and 3. Characters are: 2 for RS-232, 4 for RS-422, T for LV-TTL, and
X for user-selectable (valid for COM1 of certain products). Therefore, the example is for a receiver that uses
RS-232 for COM 1 and COM 2 and LV-TTL for COM 3.

OEM6 Firmware Reference Manual Rev 12

725

Data Logs

Chapter 3

3.2.180 WIFIAPSTATUS
Wi-Fi AP status
OEM Platform:

ProPak6

This log displays the status of the Wi-Fi module when running as an Access Point (AP).
When the WIFICONFIG command (see page 344) is used to set the operational MODE to AP, the Wi-Fi
controller powers on and the radio is automatically enabled. When the WIFICONFIG command is used to set
the STATE to DISABLED or OFF, the Wi-Fi radio is shut off and then the entire controller is shut off
correspondingly.
This is a typical transition of states (listed in Table 161, Wi-Fi AP States on page 727) during normal
operation when the Wi-Fi module is powered off then turned on as an active AP.
Turning on: OFF → POWERUP → DISABLED → ENABLING → ENABLED
Message ID: 1666
Log Type: Asynchronous
Recommended Input:
log wifiapstatusa onchanged
ASCII Examples:
The following is an example of state transitions when AP mode is selected, powered on, enabled with no
clients connected, and finally connected to by one client (STA) with its MAC address.
#WIFIAPSTATUSA,COM1,0,85.5,UNKNOWN,0,4.454,00000020,c981,12312;
1,OFF,"",0*4df8dcf1
#WIFIAPSTATUSA,COM1,0,84.5,FINESTEERING,1750,162936.127,00000020,c981,12312;
1,POWERUP,"",0*30d2ec08
#WIFIAPSTATUSA,COM1,0,66.5,FINESTEERING,1750,162948.116,00000020,c981,12312;
1,DISABLED,"",0*2c8af76c
#WIFIAPSTATUSA,COM1,0,85.0,FINESTEERING,1750,162948.120,00000020,c981,12312;
1,ENABLING,"",0*f2d8c440
#WIFIAPSTATUSA,COM1,0,85.0,FINESTEERING,1750,162948.127,00000020,c981,12312;
1,ENABLED,"02:21:66:00:42:56",0*e2bdb713
#WIFIAPSTATUSA,COM1,0,82.0,FINESTEERING,1750,163029.266,00000020,c981,12312;
1,ENABLED,"02:21:66:00:42:56",1,"E8:92:A4:F1:D4:DC",65.0*adc1b673

Field

Field Type

Description

1

WIFIAPSTATUS
header

Log header

2

State

Wi-Fi Access Point State. See Table 161, Wi-Fi
AP States on page 727

3

BSSID

Basic Service Set ID used for this AP

OEM6 Firmware Reference Manual Rev 12

Binary
Bytes

Format

Binary
Offset

H

0

Enum

4

H

String
[Max 20]

Variablea H+4

726

Data Logs

Field

Chapter 3

Field Type

Description

Binary
Bytes

Format

Binary
Offset

4

AP ID

ID of the active Access Point Profile,
defaults to WIFIAPD_1 if omitted.

Enum

4

Variable
Max: H+24

5

#Stations

Number of clients connected to the AP. Indicates
Ulong
the number of records to follow.

4

Variable
Max: H+28

6

STA MAC Address 802.11 Mac address of the client (STA).

7

STA Link Rate

8...

Next station offset H+Max[32]+(#stations*Max[24])

9

xxxx

32-bit CRC (ASCII and Binary only)

10

[CR][LF]

Sentence terminator (ASCII only)

String
[Max 20]

Variable
Variablea Max: H+32
4

Variable
Max: H+52

-

-

-

-

-

-

Negotiated link rate for the client (STA), MBit/sec Float

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

Table 161: Wi-Fi AP States
Binary

ASCII

Description

1

DISABLED

Hardware/Software initialized;
RF inactive (radio is off).
Not yet acting as a Wi-Fi Access Point

2

ENABLING

Activating RF, enabling Access Point

3

ENABLED

RF active, Access Point is sending beacons, servicing STAs

4

DISABLING

Returning to DISABLED state

5

ERROR

Wi-Fi module is in an error state

6

OFF

Hardware Off

7

POWERUP

Powering up hardware, initializing Wi-Fi Stack

8

POWERDOWN

Uninitializing Wi-Fi stack, powering down hardware

OEM6 Firmware Reference Manual Rev 12

727

Data Logs

Chapter 3

3.2.181 WIFICLISCANRESULTS
Wi-Fi AP scan results
OEM Platform:

ProPak6

After Wi-Fi has been enabled in Client mode (see the WIFICONFIG command on page 344) and scanning
has been initiated (see the WIFICLICONTROL command on page 342), this log displays the results of the
scan function. Wi-Fi access points that were detected during the scan are shown.
Message ID: 1616
Log Type: Asynchronous
Recommended Input:
log wificliscanresultsa onnew
ASCII Example:
#WIFICLISCANRESULTSA,COM1,0,82.5,FINESTEERING,1745,449323.795,00000020,de56,
45001;4,INFRASTRUCTURE,"NovA-Corp","78:19:F7:68:9a:bc","802.11x","AES_CCMP",
"2.4 GHz",6,3aff,00000000,00000000,0000ffff,-74,INFRASTRUCTURE,"NovA-Guest",
"78:19:F7:68:9a:bd","OPEN","NONE","2.4 GHz",6,3aff,00000000,00000000,0000ffff,
-73,INFRASTRUCTURE,"NovA-BYOD","78:19:F7:68:9a:be","OPEN","NONE","2.4 GHz",6,
-73,INFRASTRUCTURE,"pp6test","78:19:F7:78:13:06","WPA2_PSK","AES_CCMP",
"2.4 GHz",6,3aff,00000000,00000000,0000ffff,-73*8caf7552

Field

Field Type

Description

1

WIFICLISCAN
RESULTS
Log header
header

2

#APs

Number of access points discovered

3

Binary
Bytes

Format

Binary
Offset

H

0

Ulong

4

H

Wi-Fi BSS
Type

Wi-Fi BSS Type (seeTable 162, Wi-Fi BSS Types on
Enum
page 729)

4

H+4

4

SSID

Service Set Identifier

String
[Max 36]

Variable
Variablea Max: H+8

5

BSSID

Basic Service Set ID

String
[Max 20]

Variable
Variablea Max: H+44

6

Authentication
Open, WEP, WPA2, etc
type

String
[Max 32]

Variable
Variablea Max: H+64

7

Encryption
protocol

String
[Max 32]

Variable
Variablea Max: H+96

8

Band

The Wi-Fi radio is limited to 2.4 GHz operation

String
[Max 16]

Variable
Variablea Max: H+128

9

Channel

Channel

Long

4

TKIP, AES_CCMP
2.4 or 5 GHz

OEM6 Firmware Reference Manual Rev 12

Variable
Max: H+144

728

Data Logs

Field
10

Chapter 3

Field Type
Non-HT Rates

Description

Binary
Bytes

Format

List of supported non-High Throughput rates (see
Table 163, Non-HT Rates on page 729)

Binary
Offset

4a

Variable
Max: H+148

12

Variable
Max: H+152

Int

4

Variable
Max: H+164

Ushort

List of supported High Throughput rates

11

HT Rates

12

RSSI

The HT rates are more complex because they depend
on coding mechanism and channel bandwidth, among
other factors. The list of supported rates is a bit mask Ulong[3]
like the previous list of non-HT rates and refers to the
MCS (Modulation and Coding Scheme) index. Refer
to online documentation (http://mcsindex.com/) for the
MCS index meanings.
Received Signal Strength Indicator

13... Next AP offset H+4+(#APs*Max[64])
14

xxxx

32-bit CRC (ASCII and Binary only)

-

-

-

15

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

Table 162: Wi-Fi BSS Types
Wi-Fi BSS Type
Binary

ASCII

Description

0

UNKNOWN

Unknown network

1

INFRASTRUCTURE

Infrastructure network

2

INDEPENDENT

Ad-hoc network

Table 163: Non-HT Rates
Non-HT Rates (Mask)

Rate

0x0001

1 Mbps

0x0002

2 Mbps

0x0004

5.5 Mbps

0x0008

6 Mbps

0x0010

9 Mbps

0x0020

11 Mbps

0x0040

12 Mbps

0x0080

18 Mbps

OEM6 Firmware Reference Manual Rev 12

729

Data Logs

Chapter 3
Non-HT Rates (Mask)

Rate

0x0100

22 Mbps

0x0200

24 Mbps

0x0400

33 Mbps

0x0800

36 Mbps

0x1000

48 Mbps

0x2000

54 Mbps

OEM6 Firmware Reference Manual Rev 12

730

Data Logs

Chapter 3

3.2.182 WIFICLISTATUS
Wi-Fi client connection status
OEM Platform:

ProPak6

This log displays the status of the Wi-Fi module when running as a client.
When the WIFICONFIG command (see page 344) is used to set the operational MODE to Client, the Wi-Fi
controller powers on but the radio remains off until the WIFICONFIG command is used to set the STATE to
ENABLED. When the WIFICONFIG command is used to set the STATE to DISABLED or OFF, the Wi-Fi radio
is shut off and then the entire controller is shut off.
This is a typical transition of states (listed in Table 164, Wi-Fi Client State on page 732) during normal
operation when the Wi-Fi module is powered off, turned on as a client, then connected to an AP. Note that if
some transitional states occur internally very rapidly, they might not be shown in output logs.
Turning on: OFF → POWERUP → DISABLED → ENABLING → DISCONNECTED → ASSOCIATING →
IPADDRESS → CONNECTED
Message ID: 1613
Log Type: Asynchronous
Recommended input:
log wificlistatusa once
ASCII Example:
#WIFICLISTATUSA,COM1,0,85.5,UNKNOWN,0,708.095,004c4020,71a1,45094;OFF,
"02:21:66:00:42:56",FALSE,-1.0,65.0,NONE,"","","",0,-99,NONE,0*8892694c
#WIFICLISTATUSA,COM1,0,84.5,UNKNOWN,0,738.736,004c4020,71a1,45094;POWERUP,
"02:21:66:00:42:56",FALSE,-1.0,65.0,NONE,"","","",0,-99,NONE,0*cdb320a1
#WIFICLISTATUSA,COM1,0,67.0,UNKNOWN,0,747.011,004c4020,71a1,45094;DISABLED,
"02:21:66:00:42:56",FALSE,-1.0,65.0,NONE,"","","",0,-99,NONE,0*16c6c316
#WIFICLISTATUSA,COM1,0,84.0,UNKNOWN,0,747.017,004c4020,71a1,45094;DISCONNECTED,
"02:21:66:00:42:56",FALSE,-1.0,65.0,NONE,"","","",0,-99,AUTH_UNSUPPORTED,1064
*6468065b
#WIFICLISTATUSA,COM1,0,81.5,UNKNOWN,0,2648.272,004c4020,71a1,45094;ASSOCIATING,
"02:21:66:00:42:56",FALSE,-1.0,65.0,1,"Network23","","",0,-99,NONE,0*cab8d09c
#WIFICLISTATUSA,COM1,0,37.5,UNKNOWN,0,2649.516,004c4020,71a1,45094;CONNECTED,
"02:21:66:00:42:56",FALSE,54.0,65.0,1,"Network23","C0:3F:0E:8A:C6:26","",7,-99,
NONE,0*c34c0201
Field

Field Type

Description

Binary
Bytes

Format

Binary
Offset

1

WIFICLISTATUS
header

Log header

2

State

Wi-Fi Client State (see Table 164, Wi-Fi Client
State on page 732)

Enum

3

MAC address

MAC address of the client interface

String
a Variable
[Max 20] Variable Max: H+ 4

OEM6 Firmware Reference Manual Rev 12

H

0

4

H

731

Data Logs

Field

Chapter 3

Field Type

Description

Binary
Bytes

Format

Binary
Offset

4

Scan In Progress

TRUE when a scan for access points is running
(TRUE=1)

Bool

4

Variable
Max: H+24

5

Link Speed

Current Link Speed

Float

4

Variable
Max: H+28

6

Link Speed Max

Negotiated Link Speed

Float

4

Variable
Max: H+32

7

Network ID

Wi-Fi Network ID (See Table 165, Wi-Fi Network
ID on page 733)

Enum

4

Variable
Max: H+36

8

SSID

Service Set Identifier of the current network, if any

String
a Variable
[Max 36] Variable Max: H+40

9

BSSID

Basic Service Set ID of the current network

String
a Variable
[Max 20] Variable Max: H+76

10

Frequency Band

Frequency band used

String
a Variable
[Max 16] Variable Max: H+96

11

Channel

Channel used

Long

4

Variable
Max: H+112

12

RSSI

Receiver Signal Strength Indicator

Int

4

Variable
Max: H+116

13

Error

Error associated with the last failed operation (see
Enum
Table 166, Wi-Fi Client Error on page 734

4

Variable
Max: H+120

14

Reserved

Ulong

4

Variable
Max: H+124

15

xxxx

32-bit CRC (ASCII and Binary only)

-

-

-

16

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte
alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte
alignment following the NULL.

Table 164: Wi-Fi Client State
Value

Name

Description

0

Unknown

Internal state

1

Disabled

Hardware/Software initialized;
RF inactive (radio is off).
Not yet acting as a Wi-Fi client

2

Enabling

Activating RF; enabling client

3

Disconnected

RF enabled; not connected to AP

4

Associating

Associating / Authenticating to an AP

OEM6 Firmware Reference Manual Rev 12

732

Data Logs

Chapter 3
Value

Name

Description

5

IPAddress

Obtaining IP address using DHCP, or applying static IP configuration

6

Connected

Fully configured (802.11 + IP); interface is ready for use

7

Disconnecting Disconnecting from AP

8

Disabling

Disabling RF, hardware returning to initialized state

9

Error

Hardware non-responsive; client will be reset shortly.

10

Calibration

11

Off

Hardware is fully powered off (radio and controller)

12

Powerup

Hardware controller is turning on (radio is still off)

13

Powerdown

Hardware controller is turning off (radio will be shut off)
Table 165: Wi-Fi Network ID

Value

Network

Description

0

NONE

1

1

Network 1

2

2

Network 2

3

3

Network 3

4

4

Network 4

5

5

Network 5

6

6

Network 6

7

7

Network 7

8

8

Network 8

9

9

Network 9

10

10

Network 10

11

11

Network 11

12

12

Network 12

13

13

Network 13

14

14

Network 14

15

15

Network 15

16

16

Network 16

17

GLOBAL

Global setting, applicable to all networks

OEM6 Firmware Reference Manual Rev 12

733

Data Logs

Chapter 3
Table 166: Wi-Fi Client Error

Value

Error

Description

0

NONE

No error

1

GENERAL

General/unknown error

2

HARDWARE

Hardware failure

3

INTERNAL

Internal software error

4

BUSY

Software is busy

5

BSS_UNAVAILABLE

The access point (BSS) is offline/not available/not responding

6

ASSOC_DENIED

AP denied association request

7

AUTH_FAILURE

Authentication failed, possibly due to incorrect passphrase / key

8

Authentication method not supported: Network configuration is not
AUTH_UNSUPPORTED correct.
e.g., open authentication configured for WPA2 AP

8

DISASSOCIATION

AP has forced disassociation

10

TIMEOUT

Timeout during operation

OEM6 Firmware Reference Manual Rev 12

734

Chapter 4

Responses

The receiver is capable of outputting several responses for various conditions. Most responses are error
messages to indicate when something is not correct.
The output format of the messages is dependent on the format of the input command. If the command is
input as abbreviated ASCII, the output will be abbreviated ASCII. The same rule applies for both ASCII and
binary formats.
Table 167: Response Messages
ASCII Message

Binary
Message
ID

Meaning

OK

1

Command was received correctly

Requested log does not exist

2

The log requested does not exist

3

The request has exceeded a limit (for example, the
maximum number of logs are being generated)

4

Data packet is not verified

5

Command did not succeed in accomplishing
requested task

Invalid Message ID

6

The input message ID is not valid

Invalid Message. Field = x

7

Field x of the input message is not correct

8

The checksum of the input message is not correct.
Only applies to ASCII and binary format messages.

Message missing field

9

A field is missing from the input message

Array size for field x exceeds
max

10

Field x contains more array elements than allowed

11

Field x of the input message is outside the acceptable
limits

Trigger x not valid for this
log

14

Trigger type x is not valid for this type of log

Authcode table full - Reload
Software

15

Too many authcodes are stored in the receiver. The
receiver firmware must be reloaded

16

This error is related to the inputting of authcodes.
Indicates the date attached to the code is not valid

Invalid Authcode entered

17

The authcode entered is not valid

No matching model to remove

18

The model requested for removal does not exist

Not valid Auth code for that
Model

19

The model attached to the authcode is not valid

Channel is invalid

20

The selected channel is invalid

Not enough resources in system
Data packet doesn’t verify
Command failed on receiver

Invalid Checksum

parameter x is out of range

Invalid date format

OEM6 Firmware Reference Manual Rev 12

735

Responses

Chapter 4

Requested rate is invalid

21

The requested rate is invalid

Word has no mask for this type

22

The word has no mask for this type of log

Channels locked due to error

23

Channels are locked due to error

Injected time invalid

24

Injected time is invalid

Com port not supported

25

The COM or USB port is not supported

Message is incorrect

26

The message is invalid

Invalid PRN

27

The PRN is invalid

PRN not locked out

28

The PRN is not locked out

PRN lockout list is full

29

PRN lockout list is full

PRN already locked out

30

The PRN is already locked out

Message timed out

31

Message timed out

Unknown COM port requested

33

Unknown COM or USB port requested

Hex string not formatted
correctly

34

Hex string not formatted correctly

Invalid baud rate

35

The baud rate is invalid

Message is invalid for this
model

36

Message is invalid for this model of receiver

Command only valid if in NVM
Fail mode

40

Command is only valid if NVM is in fail mode

Invalid offset

41

The offset is invalid

Maximum number of user messages
reached

78

Maximum number of user messages has been
reached

GPS precise time is already
known

84

GPS precise time is already known

OEM6 Firmware Reference Manual Rev 12

736

OEM6 Firmware Reference Manual Rev 12 (OM-20000129)

July 2017



---

Source Exif Data:

File Type                       : PDF
File Type Extension             : pdf
MIME Type                       : application/pdf
PDF Version                     : 1.6
Linearized                      : Yes
Language                        : en
XMP Toolkit                     : Adobe XMP Core 5.4-c005 78.150055, 2012/11/19-18:45:32
Format                          : application/pdf
Creator                         : CMacKinnon
Title                           : OEM6 FW OM-20000129.book
Create Date                     : 2017:07:26 11:44:28Z
Creator Tool                    : FrameMaker 12.0.4
Modify Date                     : 2017:07:26 11:53:21-06:00
Metadata Date                   : 2017:07:26 11:53:21-06:00
Producer                        : Acrobat Distiller 17.0 (Windows)
Document ID                     : uuid:48e9e906-3432-4a28-bb94-7a747b00b42c
Instance ID                     : uuid:2b61d060-0c99-4d6b-ad04-07a99673257d
Page Mode                       : UseOutlines
Page Count                      : 737
Author                          : CMacKinnon

EXIF Metadata provided by EXIF.tools